adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}

{
  "content": "Goal: put the can on the burner",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7921, 0.6044, -0.3882, -0.0193, -0.0338, 0.9993, -0.02, 0.7937, 0.6067, -0.3958, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0012 right_z=0.1781 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.2923, 10.2359, 2.0, -0.0562, 0.2222, -0.0904, -0.4855, -1.3607, 9.7299, 1.917, -0.0464, -0.0269, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86520fe5028b87ebee961a4ff397da19e0c9f714c14595c3225a9216d0444b8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cb44660ba42ad42b4f6a2bb8936fc6871aae3600d92ad59a8b0072581f2c11e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b294e78a0f818904fabe90f4cd644668f407780b54b8114a0f09229be3422b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrGxSnt-kl0mOWV2kjUAScPUulmL-IGQsVr4EyesLJAgvGeoc3NqHdL6SRTPQHlwoiK1uoXnEWXNYgOybdUQ1bjXvQZzlZKLJi3K-df8jFA_HvLPkvchET_VLmY6BS95kuh80JgmZ8M8lqlkhSYYvKe7lEmYQtymgK4p_wXb8FjdzZF-pJgEyLGEB5F07fNIgDE_BWWU3foZ7PMa_pqxUhIDMbhyiEulJTaJQ07cNyN3CCUp61UHeJhh1BJ0BfLDuoGTt2kJKQxSHbdsftR2l9N24lh47e2kddJSruCEGDpRStBVoaYWBnnVl7RUULRNiIhD7JBBtnoO8WiYl4l4Oky80RyqvhL2TADjqQlo0LnVwF9x38rkWRYYB2oPzxLSozIME_LbbTQlHxj01MhS75yrc8egPf7GlhV2Tocme_fMRCCHa2eccS0C4V6_28wTywCJj6UEBjgFCi_hycSwFdDKdYpd19sSWJQyxGLAk-s2iEZ6l3esmp8hmiKWDznQacJ0_Zq6YayNKuPbFCwhjF8m_UFmHrCTRae3X2KHyiRyauDSL_EJX_wvy33Yk3n9Jum2-hXO0bNF8Curx2swVWkYr_tuxsIUuTpg-lPxB6mZLecW7dUTi-O8xSk9FX6XQndc4SQ1aTu4cfiUQiM7NeJqbrzZA2HU-j6zfsVqe-jnw6dsE9seWSn02rijXvSjXKSCqeZMgOQS2shSFc_3QaGkHu7JFuxg45PgS5JxVA4xgvk75OXwGCwh5qZDGocycVK3Cj93eKSATPFXN85GwrO8ZLtgBor18_cW6RRmKgAEMOVx6e5mqdZ4pLAnhLVp_QCCYggJ-MGyWK8Ru5jcnPMXaGRMKFJ5LY13ms8Tkg0BNp_mA70KaYsry4PGOG8DxkJ3U0SPxPDpbZA2CyOAc-jzBv_9kKNHh9ZKElFgwItSrb3q9eE4gNypF7Di7rmulwudYXfEoesrrXQhkNUxGJ-KHpdIm05lC-Nlql3tPX3tjprUQqyu6hBdII0KwxAqb8iGuezSQlUqfu-4UEJh6lQ_flwIEWO9B84z0Fw6t3AFNIIY8fga9LxB2H1ixES3kynZh3Fq8dKhEQNDZsAzdiZExF-p7R6OMiVIQH3PbNrbZl24lOMDpbY90frxNPYEoYE7txfR9LYqaQzyfwCs9GMPBMDQuLkFyDkGFrpuj0wIyi6fGXv8wR58V41ll74Zalpc7fot9KnbW8ICaAVxU6DuCQC9i0EMwPIPxLplXP7aDcXVeL5cCL45AmyrRDKEs_rC50maM-Rbmpr3aD0px7KNhSZdu1Y1ACiV04E1gwOy2DZhrGjsWUurjGMkqgCCuaGVjW9yxX-c3xpa8JraQzW-wZxhifiiGHW5GHubMM2Pq9j1LTkXu5NGp8RiA7waabB_d2grqObFo6-9UyPyWGKQcJEwciR5LTFBliTxLZLqMzQEc1ni7CBpDOI4aB24VQOefGuQPzZfJ0VTWo1xxhgl_R44jcr2YTndbTMb7DN0iNIlPS8zJLAAppkL8-p3cO9hXM7GS-qRRnU7kj2iOTr1lhHP2yaxaz4ewL8UJClXg-fosn6aXflLcxyhbs-MnPNsseazqMXBwd-gF1dXwbH_YLIeSkW8RtvDYO_PCT9NlLEFzR1IIQ2nafBKi5DiVc6Z_B9JDkJ8zuV7si8kRn9iKog==",
  "id": "rs_096ed760b24426be016aac6c4ced2887d08bdae4f7a2cf0101",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.18,\"right_z\":0.16,\"right_gripper\":1,\"left_x\":0.294,\"left_y\":0,\"left_z\":0.18},\"note\":\"The can is lying between the burner and the kettle. I am bringing the right gripper above the can’s middle, with the left arm parked clear.\"}",
  "call_id": "call_zIwQLUJPbszsL3h0angSKxJk",
  "id": "fc_096ed760b24426be016aac6c51263487d09b5a6201e40b26b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zIwQLUJPbszsL3h0angSKxJk",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.7982, 0.6083, -0.4065, -0.0227, -0.0395, 0.9992, 0.6815, 1.4147, 0.8642, -0.2253, 0.5167, 0.3843, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0001 left_z=0.1753 left_yaw=-0.0005 left_pitch=-0.0205 left_roll=-0.0024 left_gripper=0.9992 right_x=0.347 right_y=0.1737 right_z=0.1393 right_yaw=0.0429 right_pitch=-0.0728 right_roll=-0.0539 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -1.5521, 7.1043, 1.8388, -0.0855, -0.0659, -0.022, 0.1709, -6.188, 9.0188, 1.7753, 0.3932, 0.1392, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc2cde589f70f37671e8215514250608b0b18b77ced3247b09a7a6c1d9e0906",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:535e05ea8b288a8d3bc56b7c975abb84e1689e8a81a755ddc277c79e9a8cd148",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79da4dea2f9f86ab72a25fa73b153a6afa1629ea8c8cdd5e84621d3b67860fe6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7921, 0.6044, -0.3882, -0.0193, -0.0338, 0.9993, -0.02, 0.7937, 0.6067, -0.3958, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0012 right_z=0.1781 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.2923, 10.2359, 2.0, -0.0562, 0.2222, -0.0904, -0.4855, -1.3607, 9.7299, 1.917, -0.0464, -0.0269, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGxc-ho7nnB8Wlt7ici989dgLsmJ3ozAwcKd9pyGOgkqfLZNe_rU8pNJCk8etbj8DuqBrklHvJpuhA7l9z97s48Ob8nghgrIikAuGVpr8bQ49AyhCcmzUMszR_rqJPI7mv5CVmZmwPkdt_6BTmfOmFnB-fsznZwWwkqQq3VZRYy3uRkAskQPs-oKPdyHITFHASjr-0zDuvAG2N4aURPJtwfLcTFK4Qv00ljmAvdBdBr75SY8kJ_h3qF2pUz1iQ6fSTntODK1DCyYFmII-eJhacXYsLkxTzcO68RJlhyZzXh68pAFXsmmsiK3S4ZW-yRu-vzfnYYrzSKsXd9NhUtIxd4NZmp-SWC7pj2ylfEqXbrFLVxg0yAsnxcwopxuqqgvh9Nd_rEZF3SLjmLY4zP7ksSm3sCE8Tx1fLRQorV2BZMKL5xCvHKepCYnfKsT029lkBLM0aefaFAuVk5cjwiSGzRU7X73_wPdQIXl75YvaAXulKrWCgmY64xHISxHet0Qg3AV6irM2Nbv-3Fn7DiaeiaQauePVwbDrTDL-MtaJahA9SHhY26wF87quPDZbB7VGfRMKewURicdZtJccTv1_1ZZAjSYQkShIGtRYpL6OakF4NQn3r0JmoiDrn6ZiGOL_69Icft0Ud42K9NIDLrQdvcZL4JzxKWq8FQrrpj8Mk3-eOnXyQkhZ-STTsm5GMaumxx0gDDEFM8dXSiEB2-PWYud4IH2elVZErwXz4LxtZfunoBCIMw_psmZErTsFnnELCtX3hkeP5XzSnn87_3mlcAe2cWGGc9zzpSkgYc7i19JhzPjFbfelcRmU7xDmVA6AgDAm_OdAjYMF0lBYNqhoIXiAs6fTvKjPbU_B3BR2Ke6f9sP482IOf23yRCmmBgJO3v5uImbjdBXUc1VGPIJIN-R-AxYvCFf_eYrjQFNDcBxyT7igdD1FUDJMr0d_J_Rca9iXO4klrPbvs0ewvr-IGtI2XE8mDIyQTz-wwEdNCdBeUW8TGSaO2U3vx4sgJaHAR3X320tvf14ppKTe4dypSJiFJTIsa2K0cuLh8ot7we9qLPJKobYcndVS0Es1oNUkCjoPMyOBul2uFhU2SU-2HYBxiu9oM9TXQatszVSAu9g93y7FXMp027A7R9h5Co_p96_rbdmNA4HsRaWLVbdbykwhhcmAGhu6sB7HT_-QScEmFIx1El7zNaqRz8t0MPBMhgnB0-egb4m78WUisjPgCaAbwUjWc43dK53PV9iA8qjs5njcjquz2qyY-tAnOAeM5NV4MDZc2KZDEVwciS1XbozZXfVbmOVPdsIBLpXCyeMrPCFnP7ZlruCWbZWMLsA7ExI-6jjFtxlWefKFrSkJnJyxD4MIRWzLd6M47J_0Lyukbq0UiCIYe_LYgAK8SG_hRK3HEvvCaXMCxXRSAOAD5ltdWSnjB7km1Lun66Ro-mtoZabq85BRK42gGh6tANgRRD5Opv2hZ8-jd_jCNoYEbLPZyzq7am5_gl-2IQFuamvnOc5xS4yYZuIiC1x65ggMVujHQDLSVR-FpJP5Cktzt0TRoFceK-sByBv8vlNI9QrLyTqls2KIUxUB8sLNMcQbsBllamumXrFkEIipapKA_wk8Yzm7WeW0eY-j3ecMxMrhIox1cusL8jkbzi2Av5WC8nTBmtixE_zIg5lIYzusTphwkNHl_7-T_7jDvrgqJYsFoalF2khys2pSYiau1HL-LWoR_EHe3EhUapwwpgxcrbQBnYjrmczjN7oGfCc4a9u6X1JVZUVLiMoEc8LKKVNlHiJ",
  "id": "rs_096ed760b24426be016aac6c567e2087d0812e3dc53393cf96",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.18,\"right_z\":0.055},\"note\":\"The can is centered between the jaws in the wrist view but still ahead of the fingertips. I am moving a little forward and lowering toward the middle of its cylindrical body.\"}",
  "call_id": "call_fakbmDO08u0vbocuuEvdFwPg",
  "id": "fc_096ed760b24426be016aac6c5a4fe087d0b471799b91ed389a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fakbmDO08u0vbocuuEvdFwPg",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8013, 0.6083, -0.416, -0.0223, -0.0395, 0.9992, 0.6258, 1.6955, 0.7799, 0.0727, 0.474, 0.342, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0 left_z=0.1725 left_yaw=-0.0008 left_pitch=-0.0331 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3701 right_y=0.1724 right_z=0.0467 right_yaw=0.0387 right_pitch=-0.1472 right_roll=-0.1001 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.4701, 6.9949, 1.8388, -0.0513, -0.0513, -0.0171, -0.7179, -7.2137, 5.559, 1.8535, 0.1783, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2965b923124edff244176164155a73dc5b1cc7eb3b2f1d4c66453286f2babf48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d52ea0d1142578b82f7c7431c20ca38922f155fde1d2de0c93340a854420be4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea98be757bd7343de99dea3366b9cfee9961c3188348144282688c407d5b9e8e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.7982, 0.6083, -0.4065, -0.0227, -0.0395, 0.9992, 0.6815, 1.4147, 0.8642, -0.2253, 0.5167, 0.3843, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0001 left_z=0.1753 left_yaw=-0.0005 left_pitch=-0.0205 left_roll=-0.0024 left_gripper=0.9992 right_x=0.347 right_y=0.1737 right_z=0.1393 right_yaw=0.0429 right_pitch=-0.0728 right_roll=-0.0539 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -1.5521, 7.1043, 1.8388, -0.0855, -0.0659, -0.022, 0.1709, -6.188, 9.0188, 1.7753, 0.3932, 0.1392, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGxl8Ckdc7XH0m8QO8IdLza4Bwm9zq7kxMygpcVMHdlrXsCh0Sf08KHr8ULqSTnH5A20Y6ZESl_HGXeiOjv8mWhF1BO8VtAIicodIMV4ufO0EFV9pQtSQlgMRPi9LNpE29vCY_M35ACN1F0eOLc05a2tsXJyJhxmLCMKDRS0W4U03k8YWojvfcR4_JmCMR-rihZqFr9X_ieGQ7xOE-xYqTZhlTb709g6_1u83L-qGJUkMFs5XF5cgsqYhqtIRh0-073WJxS7G1tRR_V9J8lYcnIt8BBlf0fVx6LfCHW4p33HXWuCtZjhVzvKmfBcPc29hD-13rigvgyIb7gZIRHfkoIjNPuWebfom_Rv9zrgx6USvbqjRWxnzI30ehzO1EhpUlVmWURFGmYpb4Vkf_ML8oOWVVuD-pv3Wk3jwj3t-AiS9NeDwMBNVISMnM8ph8AjoLJyrB4yOIHF_4vAlBUQQw8gzYz_dsDp3VqENSTU1scA_vqROJrrY_Kf_ydpzKGsJETcgVNl9MZj8vmMbnu0YUJs6dG7aOJaCW6xUVJxXvmAa_QeknvCAHCetCeybhv__ksBxwbnwnaHAOQ2pUZz2vFypv5F3dWsEWv58DubjviUUolP54vhidU58w2b-AE6QXiDoTq7KGuo1070v6TqQuE_T0e0JYc3TbfByMA-OvMyCG9od_ACI3_nlSkyg-aMZpy43GwXtZbUh4-vroxfe3_nqS6b4ksp4FKZ4xuJCiFGyvS5YJrGhabWzOHBrmmx1kYXYmGnkqAYwGvH-PXY10wTxA4mlsfkQJiceE2aLHQoZvMweI16nnY1semGOgQlUGXIG3Wfr6YOK-iL2GaYYmXDX7FVOH9bwA0HtQ2G9sNO6K_ULdjm7AyiGrpY-5NlsT-KLhmH1Ah3UTUfzU0Qc4NdBaWDn3b0AbJH3VLVPMQs2_cLS-j-DubQCZBzZ8U0xh2XNFDJeLawLX7h2vbl6Z-DvGq0kK9HH3lyLgyJIAqrIiQR0Vr1tdLn3JnXq5Q_qqVekClqQ-cbIjr7F2x4mHjEFh3hhptfuyJTLOWqL1vVlgZND4dmJ76f-oYHtDwYTuM7WnDcrFffbQihKc7ElQ9M_K93KUrQp3VkKB2pFnFsCw3bCeX1E0USgqJK6dScWOk8dRywpZGvfhI856IWXGnUc_H1FS1nkYAXHncsGGDkOqBpGOnWHOz2S0UVbzhOpGWeHneoBytTcWrNQqpfzjJfMHgslcCrVnvqEYnr01wXIOrF0noX9HIcR6A-OJV2U46KjVr6OyK3ZqJDkacEP6_6htGOL6sjB7cpO5Vg9hr1bNM520D1zihlZwHvVCbaxlIo43BaPJYa7VCVHbqJfvFsvivj4iFCxnbS4Lz6pEv0svkRtejdfzZ4mw_xpDNLWjD2-UChOYKaqBEpf-iI4RalEmU3YvXiWynGsOGU_oxkFk3ow1wKdMFSeziSekwrMnFFTsY50_xpXW4e2gk9DdHmLT3FOSs0TcrmClR4fh4hVW5nNNBHuOGwxd5O-AiA5WsdIC2luQ6hNEzs-iVDHXe8uv9HEaXTXxIH_0d-tgns-nay-czoFCcqEeMcS6N-7nAoevleOl-LgKtKOxq44W2lahjHacDssGRy_gDTbwl4QK5OBn69ng-dZ0gv0c5c70MaDooKtbAr2f0_lVrZRpy3f63WYyW9JWzcC1yCZRkvYcZxPUl3auAAo70xgDI8wx-jfk-3CvbfVahXeS0ARHiAI_BewxtDvnT4hF86sI7M8_jRVeLwZTSNmMGdJXO_FFMw",
  "id": "rs_096ed760b24426be016aac6c5ef67487d0be8af1e35d8f61cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.18,\"right_z\":0.028},\"note\":\"The close wrist view shows the fingertips near the can’s blue end rather than its center. I am sliding forward along the can and lowering slightly so the jaws can grip around its body.\"}",
  "call_id": "call_QRxnfqPktUujYA34A5Lu58L0",
  "id": "fc_096ed760b24426be016aac6c640d1487d08334192b92f48cea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QRxnfqPktUujYA34A5Lu58L0",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.429, -0.0223, -0.0399, 0.9992, 0.556, 1.8927, 0.918, 0.1001, 0.4244, 0.2878, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0001 left_z=0.1694 left_yaw=-0.0006 left_pitch=-0.048 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4093 right_y=0.1729 right_z=0.0162 right_yaw=0.034 right_pitch=-0.197 right_roll=-0.1247 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -1.3744, 7.0222, 1.7949, -0.0562, -0.0562, -0.0171, -0.4444, -8.9094, 7.1863, 1.7851, 0.1832, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb72ae6c33afb0133acc506cb40479fb72aa2754752f946f92dda82af6f8f25a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28eec11c62cb04f90da66c108b37f39f46fd18f84eb5520a7a5876259f525c49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75df2e411ef02a8f0cf50cd57a3bb4614afbf446eea1ce4146544b1915d1d78e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8013, 0.6083, -0.416, -0.0223, -0.0395, 0.9992, 0.6258, 1.6955, 0.7799, 0.0727, 0.474, 0.342, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0 left_z=0.1725 left_yaw=-0.0008 left_pitch=-0.0331 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3701 right_y=0.1724 right_z=0.0467 right_yaw=0.0387 right_pitch=-0.1472 right_roll=-0.1001 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.4701, 6.9949, 1.8388, -0.0513, -0.0513, -0.0171, -0.7179, -7.2137, 5.559, 1.8535, 0.1783, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGxpW5qTMOJ-IyPDgitTQ6_ipI6qC_weIqhvGmLldiOxGAej20QdyUhKA8tYxhtX_X8bm6-4xXwF6tIl8rozlPDbuU0OnDlY_ennBZiPsSB2szPXmwlAjq0ru6mIkJwQ_ckuF_Dwqp0BNLD45SAON9Q_nnlbaRcbgWPmEno4yftmPRTIIOlnkQ_IPam6tSHZ-MDz7L2F4WU3v-iec68OkCKxpIQBuh71-xdnEX956Tx5xI4sr8RlDYjDzTvOU7c69huhYRmSRtahcONaiJlyZDYq9HUIcr0oTPwBvrq0Q48QCe0xw0PFwPLjeKlj9XNFmzI90F7GAW9bXg01sLZ51FVYU_gfnVnu-_PX1X9lGN1MK5sAVq6AagDFoo5NIom_T7VZ8naGpUde8uCjXjcE63UktMg8HF4cp-EJyeeyTyldw2FLbpNNFH2-nKYPnyyRZ5nRwfLqqtkqdNz-5iKwmvNGVu0P8lJn0a8LeBWQsG388CYeMIIyUfjI5DldU229YNGykWbMcSxKlepuNP3820iq0iMUyF5bChnMqwFWKRpnNZM6aFc9PfAFGqcSTUIm8wDX9xLa1y-2sLCRjow90_2JZ0yTrA7IWtx_k74qhXi2n3T6eY12GLRPVSII3Fat-vkPXLAXBApBuTX5aRUT90yaehxSYYpPVx8HB9vFBIk99LYoZ5YfF3BV3TioPXUhblb5yQ_cOOfxYfNsxueY4wemLvTP_AYDkhY9I0UyVhplbsNfkI7SSxt0T35Pf5YW753_be6kSkV540JY0aRD3TEh5vRUc1hYlZ1rDRgIUH3-THtACLwwSbUvqLurUeffL-BKRbicM9o5xePEqEYM9oJEduNuKf0fHqh5edXtY5Mja3_rPcHiDNcOUZEFQ_Vw8oj_Cbnco38u3yZbd-t9ISP55Q5CnTVHksO_YS2kJ71YXTSh96BYE4BttkVx670OGK70m0nrlxVvZptVFTJy49H2I0bcbUfhRpgWBD3OdDTNcX056ZGMPx8x3pXVweOyQ-NmL_mfjLSkmdweUmZHkxGw3gJw7NWXPQutwzdEzMldVgJtpyoZaxdyXlTMiEueZovhrUOiySRLj7B_BKIW0Bt9RhsNCfWfiNi0u8RZ6s87p0-SbwUa-4JTTZDNNRe_HhOxn1gQIYsqE7v8kn0ZBQXooiRuCkMFCzJyxxSfCU10gW9s39FnOYj9k3FNotvZnNr4iHqqJ7-3An927Sylguvrsbo3TiCOz9VYN3mpjohf8TU=",
  "id": "rs_096ed760b24426be016aac6c678a6087d0a023df9e2121b354",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.43},\"note\":\"The jaws are now alongside the can’s body at table level. I am closing gently to about the can’s diameter to avoid squeezing it out sideways.\"}",
  "call_id": "call_vqgh3CcceKRWgMFnErehufr2",
  "id": "fc_096ed760b24426be016aac6c6859ac87d089e3bb870ae8d189",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vqgh3CcceKRWgMFnErehufr2",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.804, 0.6083, -0.4358, -0.0223, -0.0395, 0.9992, 0.5522, 1.9041, 0.9314, 0.1028, 0.4095, 0.2722, 0.7141]\nstate[eef_state]: left_x=0.2881 left_y=0.0001 left_z=0.1678 left_yaw=-0.0008 left_pitch=-0.0556 left_roll=-0.0017 left_gripper=0.9992 right_x=0.4127 right_y=0.1759 right_z=0.0155 right_yaw=0.0509 right_pitch=-0.1997 right_roll=-0.1236 right_gripper=0.7141\nstate[joint_eff]: [-0.294, -1.3197, 7.1179, 1.7607, -0.0708, -0.0513, -0.0171, -0.2393, -8.9231, 7.5282, 1.7411, 0.2369, 0.0562, 0.9109]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5bc39b2a6a2448fcf90f869c5ad1fcc92f25aefc698259a4803fe507d348fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0617f649e695ebd80bfdd655faf3bdbb9a122cf07187d3447f525e2063d1468b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:645f0629f533ae067351a1b8fcd0c7bef72655f1d354e2a53cb543512eb7e7ff",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.429, -0.0223, -0.0399, 0.9992, 0.556, 1.8927, 0.918, 0.1001, 0.4244, 0.2878, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0001 left_z=0.1694 left_yaw=-0.0006 left_pitch=-0.048 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4093 right_y=0.1729 right_z=0.0162 right_yaw=0.034 right_pitch=-0.197 right_roll=-0.1247 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -1.3744, 7.0222, 1.7949, -0.0562, -0.0562, -0.0171, -0.4444, -8.9094, 7.1863, 1.7851, 0.1832, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGxuGtjcrXk1qehLYJx0RD0rVz-yEr-rhWkfH6vffY4h7mjOJTeB4vI28tw4e4t7GVZadp4XYEnJc__bHTQSp4QNu3N0eAWv42MCRbc6CFmjYYpfYTG9oPTwU5SamsR18i92zYYMDcBfzSyyqtDoIvKAP60nKCjBx1sLKhE5tCV7r0RW7R5nhPCrFHQ0LiSO5vVk89WPQiRifWQY2qfjUZ_5XSTraz9flxev3aR18NsgrBQ0mXkN19aAuf260kWXQ7k1Cl56JWBoUS6XUIYmlQTbf5ZQMooq7C4oX8JX0VzixgWGBJI9lRDLJnAYPzLxbV7u0ct1yjFXFTmphin_K_FfQb4IOcPsBqNzyAoEsNGvW9jZXD1-Taqa260M6Wt9a1cgMWcxAY7T6ffQFnWd66BVTZMomdsnRGLwrJNvJ61HY8h9JYVzb3MA_jcKVNdrpktViF1AYYsCPjBHTVFo-sQD6bxVEF5lGE6aTCyX8YB9LiEmCvKNW6gvU_pmRWMnWTRqYiyzAKASl3R-Yz7rIWYsuJLoLUbLxkA2D_tlolp1GtBEO6dQ8jHx6APkbvJdx_to4iOTA5_tEEuZL6jSI7hI0WOjgIl_il3Yyp5y26mz0EuT8uBzRwt9_qEGM_UfV1YICTIdLOsk1mBEtyUepemtiC6aWyBp3ZLV5hjRM3TROxJpbdvff85gFEVffi5FAMYuiXS8iFTG7lui-i-luWOPZwo_h62msQbd0RFdq0H77Xu1ebCZaV35-upwg34leHcM7cn8V5tsPgnathX2W9m8iwHI2aKyS6YMar8o9rqId20nUUbbhiqEkun31tDHdFoxZ1TbDkxMd6gZGPhcaEdkUptvjD1ko3nTvGrZQ0r3po-rzn9qEDAs0ZMKZqW_sVV5slyuhqSHcAAvuOgLl5hHNsJ0yVCpXymRfeZ-nGsiTiHUp-k_OOJLj4SIwVGBPoUruZe5JAClOB9mTnvobIAesMBY1jbxwcONmSQ4zUOEQhkHxd6PEdl1xJ5Y9cgFLEzTYEP0DgSd0yUgbWExk1hZdRR6ADASp4rqgzzDVLNkz6zKlMI5oXOD6EcjJK7sVtvpG6YVdhMrQV1nSGEdIrMDzqr2vBVf8vlEZpC6lf7DRovbSbm1Hzu1wPt5nvQVoJOa6fmJ0z_LLjeHeT3lA308dBiQBnGKbgk4s1D_PPvVH7-chlIe1CvPnmfzMSRNItTMH5or4SeyUBweDwMD3zWWYw==",
  "id": "rs_096ed760b24426be016aac6c6ba64087d0a3ca09179f5c0731",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The gripper has stopped against a roughly 6.8 cm thickness, consistent with holding the can. I am lifting a few centimeters to check that the can follows securely.\"}",
  "call_id": "call_TbtbjjlKq43qs5KF3aNTNUsA",
  "id": "fc_096ed760b24426be016aac6c6c39cc87d0abded826934f072b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TbtbjjlKq43qs5KF3aNTNUsA",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.804, 0.6083, -0.453, -0.0223, -0.0395, 0.9992, 0.5522, 1.9041, 0.9314, 0.1028, 0.4099, 0.2718, 0.7165]\nstate[eef_state]: left_x=0.2856 left_y=0.0002 left_z=0.1644 left_yaw=-0.0007 left_pitch=-0.0728 left_roll=-0.0013 left_gripper=0.9992 right_x=0.4127 right_y=0.1758 right_z=0.0155 right_yaw=0.0508 right_pitch=-0.1995 right_roll=-0.1241 right_gripper=0.7165\nstate[joint_eff]: [-0.0889, -1.2239, 7.1316, 1.8535, -0.0659, -0.0708, -0.0171, -0.2803, -8.9231, 7.2274, 1.7265, 0.2466, 0.0073, 0.6032]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a2b9e373f26beaa88b27a14a0be9b7a7e04f28dae2421509f59ea4fb7939a99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:790854a14a0ebb01a45d2ebbec164799a042d5351ab3f61820184e4412b92db8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bf269a0b7e7977bcc2088a38ba7393b4aefa2e2775e8d4a54f514ff34e5e40f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.804, 0.6083, -0.4358, -0.0223, -0.0395, 0.9992, 0.5522, 1.9041, 0.9314, 0.1028, 0.4095, 0.2722, 0.7141]\nstate[eef_state]: left_x=0.2881 left_y=0.0001 left_z=0.1678 left_yaw=-0.0008 left_pitch=-0.0556 left_roll=-0.0017 left_gripper=0.9992 right_x=0.4127 right_y=0.1759 right_z=0.0155 right_yaw=0.0509 right_pitch=-0.1997 right_roll=-0.1236 right_gripper=0.7141\nstate[joint_eff]: [-0.294, -1.3197, 7.1179, 1.7607, -0.0708, -0.0513, -0.0171, -0.2393, -8.9231, 7.5282, 1.7411, 0.2369, 0.0562, 0.9109]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGxy2MNzYkDCuWDHIQVgeqzcTGb0Js8oF_E9zg_9ZavHvYwKY9E3Bg6i-SbBlqxAZBbrtQzC0yzLanumtrbryB_MpMfDVYGmZ_sXi9vgNvyn127G9DkSr-3Nysh2UPirx-TFZl_MHJiqOQUCJRU3Z1PIPUM82ZxivtE_z_DAaWNZjgIq-DHyf2reXjtVV4LYHrUQRwYPoAT0kB9njLYote42LZ13yaoXl-8fcSXHz253EXD90ASvuCH0i7wSjyEuQFqZ6ReL_cGoTbg1pFhNb2hY7-A-4KBB3iwfpOqohzUGG4ZjJ-6ZyD8vRQfoLmI5Cn9ALJ534cA5_LEB6upG_iNIsZzptih4JSx8Pef8mN3g86aiL_SNRI_W4jn8TxLlajWL2ddbs-AXNCa_GYKuvPlZY2ApqPluTqGrLzXqmxks7HDy9Cz0DcfXmJKg0k41KO9XG9AIFU_LaQUVnyOthz6CYL9iKTHKc9upg8qE2ky3EqsKdNbVgBTkZO-YLt2rQotG5rI8iSN83Up5r8WuEslrBJ-mDHvP73G3nmQPElEAkavDDb7kTQQO3ZGRmSy83yQMnz3pOGziYGJAa2wwOuBypuKvbmWJ2cubcmIrXUVy2XKrBDM0_Q4TNMNxXl6bCG2r4qBbhmWuEN6VZDaVzdF0e5UqXa7i-HwNHfh3HPbeT7fpWivbsQHRgqK2dIioN_maRLPsry9X5KSdQFjYN8Dceooy3Agvvku8gny7V9lwUT4o-bMcjxF4RY4UD_jkzLj8TN5MSlXXkGWDwBpxfWtsKj4Kf-zXxC7QDPxhMk618tlQPunVfvDE73IXDFe1SvHUvsdkrqmTnlm-uHFmstiPTwLrYUwGZvjig-Ao1Ch4yUxFzp3NOCb5DzHmJkecaBFza5uYQZrsgBpjxjCdof4B5Hx21NDLOCxCIyEZsJgBmlDGHBzQo3Ty1_WWx82pTZi7KmQzFSz1LGORUozxxsoOo_7NUsa8QS9wpxXqITEdVC6VnnFXzs_XFgBVwS8kHXFGeSbu4JyI2GjMIlbCfIfNFnv4MJLxBazlbIsiXkAaxTeSHhZwcK5663K80PJmr4eP7mTKAMHTnv1YIKEfqDtkjy7o6hFkUGdY6WHech9gVcoQ4hx5zTzdCtkC3__httIyvY_fQgQXDXx9rYglc7mzOn_hCHbxTsPhoSn3YiUwUKJB4yOI5sLVsVNCO0wlfpZ2_096tmsHh9rPCJ9SJz2HC0-rOR_xfmJk1zt1C5ugkI3BEkbF3iDT3Zaf12INqOX5",
  "id": "rs_096ed760b24426be016aac6c6fcecc87d08d71fcef1916591a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_z\":0.065,\"right_pitch\":-0.1},\"note\":\"The lift did not track; the arm stayed at the same low pose. I am drawing it slightly back while lifting to ease the extended wrist configuration.\"}",
  "call_id": "call_oyfKyLvwAg234F8u4zGahutu",
  "id": "fc_096ed760b24426be016aac6c70546087d0b474309df6ec6cea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oyfKyLvwAg234F8u4zGahutu",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8043, 0.6083, -0.4603, -0.0223, -0.0395, 0.9992, 0.5957, 1.7714, 0.8585, 0.0475, 0.4416, 0.2695, 0.7174]\nstate[eef_state]: left_x=0.2845 left_y=0.0002 left_z=0.1629 left_yaw=-0.0007 left_pitch=-0.0804 left_roll=-0.0011 left_gripper=0.9992 right_x=0.3871 right_y=0.1755 right_z=0.0387 right_yaw=0.0715 right_pitch=-0.1839 right_roll=-0.145 right_gripper=0.7174\nstate[joint_eff]: [-0.1846, -0.7043, 6.9675, 1.7607, -0.0659, -0.0611, -0.0122, 0.1026, -10.0034, 5.8462, 1.9658, 0.4664, 0.022, 0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5b42a6ff0174015d54caca182a2ca5eb935dbc1285ac187487a4e5ce79ec2dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d8bbcc48e81ff1d3a0c79716bca499d252c535fbdd93f5364c270bfc75269e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e4d1ef817820ba33a10ae3529997d8ef25202fcec8e51f1cc99ea13613fe6b7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.804, 0.6083, -0.453, -0.0223, -0.0395, 0.9992, 0.5522, 1.9041, 0.9314, 0.1028, 0.4099, 0.2718, 0.7165]\nstate[eef_state]: left_x=0.2856 left_y=0.0002 left_z=0.1644 left_yaw=-0.0007 left_pitch=-0.0728 left_roll=-0.0013 left_gripper=0.9992 right_x=0.4127 right_y=0.1758 right_z=0.0155 right_yaw=0.0508 right_pitch=-0.1995 right_roll=-0.1241 right_gripper=0.7165\nstate[joint_eff]: [-0.0889, -1.2239, 7.1316, 1.8535, -0.0659, -0.0708, -0.0171, -0.2803, -8.9231, 7.2274, 1.7265, 0.2466, 0.0073, 0.6032]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGx2IVtKOnBE2b0RvhqHo2N46vtUzfN13C_TWCBPNYPPebk12BSaJ2oQSjtKOcMKMNz5CbSTB2O3viSQ97ZyaK3-WbozVgbwDOvwn3n2_CR-OgPEgi8ZFyp-YCxOXr9SjZbCdnjYWyTeKsV3P84Ic72QUpyfeaSEERVt3WK-bVV1EaIIEA4NhUoeSJixFWiHiwIXWEZ8v_m4WD-1bBTDOUCeP-FGhIT7-1nMl9K1tCOVWrjmpDQ103S94jFLAJGImfOBJTrVFxZ9GmZHO1nyQDlsO5E3fgWVF7Y6LzRsmCZc3xpJxJir1gyQtY289-1Xi2Ivjot0FaVOamRHrZQrsxBlikLPpPdDFgIkBRDmhQPJKaxY7s5FSOe2elgT7rsIyDPHVgU20MKEWe0YJQU8MjGhQQDf3o8ZbJaF5TG0951ryD6cZseQVA0Wx92f9NdEXZ4nsjFKOQTVaaVStA1jqUxACGs0bc6dVlLe2iBDoeHDucPu39FiQM0VGDNgKtg0SH-U5oQWQeeQBiQ9sUcbjmpz5g6cUsKjk3_7q9NKj5sjMjHDwPWgbzFLH6uKH5NZW8GVunZtEHxOtRmQJgpJI0vNwD5Vgcy9XHYNMvW5RPLBDKKuk62GrvG1cdRRLzaAm78smscDBEmwJ7L1Rv4ChGBcX6KtQ-u7si1moIoCVFHxxsOtAkn8hNnMiAUWCyaaxzlm4Jrio1qcmtHvyOSddhXYs8fT12Xwbm4d0Q2eKUjqp6Qp8pIdi81lXxUQww69ye6EWpJmzMHXliG3O97uPNzrQBonIXbcaj_8hVIx_2xx9EeM4RqhkDzzKP7lRSClQ2FKqnKClg5RzBm-sywqEPZJv0Bpb_ah6evjlJhp2RdgwRDdfzfHnotun_451XU_neeUznR846BgYXjGfQK5p5InYfmW5XBFiA-PKiOFEHEjQZzOfDkfdQe91Fl0XqOUS8vjyiXEvcnR0tNnSMLnE2AaKN_0lrNsPvjVCgHBf6Kz8y0Sse27xKDCWidXgPBf7oa6x_FyA3qviNvK2LOsPbtR5m-wgAM4RzMOORTxY4mOOYf2vm1a7b5-Pd7L5pCQf4rEF2OHZ6vAVJl1IGTx-erjYnmejp8pn2PN_FixKspzFPwMFcs-mou1qjtNlrz42HNQisi94BJvrJCCIR4UjzjLEL8iq-5wApEOBgk2oNS0CGuJ4sFBcK6FB00xd9oQ4UiBgt1CG1WqXoBl94PkfGCKx22eheL5dolBe2hc6aKRVwMMMgTJAtGwmPov5x1ClDnUMiamLieQENGxwdOlLPXYQA==",
  "id": "rs_096ed760b24426be016aac6c741ba087d0b6aeb7fdd186fb5d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_z\":0.14,\"left_x\":0.294,\"left_y\":0,\"left_z\":0.18},\"note\":\"The can has moved back with the gripper, and the grip remains stable. I am raising it to clear the tabletop before moving toward the burner.\"}",
  "call_id": "call_Rxbf8NWEk87mRBGFciSQzLEy",
  "id": "fc_096ed760b24426be016aac6c74e8f487d0bb27420ec8ac0e5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Rxbf8NWEk87mRBGFciSQzLEy",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0254, 0.8547, 0.6552, -0.5133, -0.0219, -0.0433, 0.9992, 0.601, 1.7447, 0.8577, 0.0303, 0.4561, 0.2695, 0.7196]\nstate[eef_state]: left_x=0.2856 left_y=0.0002 left_z=0.1602 left_yaw=0.0016 left_pitch=-0.1369 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3857 right_y=0.1745 right_z=0.0474 right_yaw=0.0665 right_pitch=-0.1707 right_roll=-0.1501 right_gripper=0.7196\nstate[joint_eff]: [-0.0752, -1.2103, 9.9897, 1.8779, -0.0269, -0.0073, -0.0171, -0.1299, -9.7026, 5.7094, 1.9414, 0.3541, 0.022, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4226cce800166069f45ea7c021212d51b5024be42d5dc6d6aa526bab762c3c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ece4447495f3fb18d36738f0045f48304b9c3eed0170b55c71ed9da97fdd9c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89e2334dc5d6260b038be173323b7d0f1d193cf0aabc6490950d81b21c7affa7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8043, 0.6083, -0.4603, -0.0223, -0.0395, 0.9992, 0.5957, 1.7714, 0.8585, 0.0475, 0.4416, 0.2695, 0.7174]\nstate[eef_state]: left_x=0.2845 left_y=0.0002 left_z=0.1629 left_yaw=-0.0007 left_pitch=-0.0804 left_roll=-0.0011 left_gripper=0.9992 right_x=0.3871 right_y=0.1755 right_z=0.0387 right_yaw=0.0715 right_pitch=-0.1839 right_roll=-0.145 right_gripper=0.7174\nstate[joint_eff]: [-0.1846, -0.7043, 6.9675, 1.7607, -0.0659, -0.0611, -0.0122, 0.1026, -10.0034, 5.8462, 1.9658, 0.4664, 0.022, 0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGx_FMbTGjSDoFXFROv3Gye4XeM_svuMb_L1I9ziiNLC3QIEdvNFoltoIRoW6JoXAfg3seDCs5gcR32IkroWNbMu1LWZQ304rl0faqwJ3TxKp0qgLcNo2YOkHZfp0dok7_SfkuGFcVRPzKNuqE1DHBNLsvw-2EZtZG-rnOMNwyUhy5AOXpTlUoqu5Xz9fJLzQgUbNWZXoKqEzERcHg0ctMdVhzwg_l8Nj0FqKG52oqo6wIp2V2nGCKJP2WnL8d31icLvGawvUbYxHbnyM04NqXl28_Dw_2x6pjJxUGNncrqJL7r_M6UeiUaojnp_M8B6RCWsyyJmZqd8f9nrhOPaODN0oyOnFX3AaV8sYwU11c2kK6O9_6wYWDGzoWGibnZWTK7L9Pxc8e3f9LJ7tqgnQgB2hdpOTSJVOISqSImG9TImM1NB-7m9g1L5mC1R-E9RPkW88ewLvSC3AyKFBwNNU4i7to01lOmrseaTn5YtzhAS2J6tKqaDBXfNt13kHMJk3wZANjIJSCJZidsRyBDgJLa09nt2dzhtinHS5qz6zVXG2e9NBVTtVwq84d2cNz4br44AkqOTSLry2TfVaVpNZRpNTHy57zlvOplCoJmKuVOY_nJ2ifnBJ8QSAOtwu6SxAllHcefYTWt-Ic-XYZr10eOY5YvhCc3tePfKgC-k3X8DOfMUANZlMHvxgt_SeP3aAJQWNiYZ9i2FZi7V98WyS-uUEXlhs5UtgN8r_dFWVwglxOeLKJ-sZB4SO0dPmZqVxm2T8SPUZrmXjYLdHDdTAK46_BmvyC8Pi_vHwPkv0pbndlBz6q3wE2nGfxnxUe68AsDB5jKM28KtKJV2heEbbKHTn-TL7THvoI1CV9LY6sboWsZc3_7avnJbqectNaYhXCohVYBj16rYh1enLRwUbZgvbtjwfhBVjyWRkoHZC7kPOfcfWV7_KrbcuF6PgUB3r3yb7AD0JTfNHgoEbIp3iPXEKWeuK4r9LSA5JfrxwNBT1Uq5GaLwsBkkO9BvYSwLFnzYbNn-_X_IKL8mdy8Rg0az3D2YRPAX2yNtO6K1LqVaWQJrqUWn2T5FRLjtE5ICOgxzm-YeWeav9p79ZqoURhcFcxafJYKUvIuX_ppgG2FTBF125uWcP4KukSddamoXxdyHODGZ1BQkFOybysnU4QuxxpNiOziXpJ88Wufc7qns6hxryWl7ajyTJHLs8x7GgfpYF1spEQrty3AAOxNYdApi6vU9IoyqEf6St3A4MYqxbOiv5E7Ze5Qsf2CUVOYlvfHxic4tMKLkw7xGkkTgGhCz8p511867Z7BY7YAVDdCMTEhuxXTfs8t9XgyddFTA695ABFm8-dkkYo0haCA_VoOGfdDq7-tE4k5sdQZpwXX9rB99aCJ_AcIojMwpMJOgBITJHtg5Hwg3JfKujfr7Hc7l_iZcJAhDz1CO7pu-pJ83flphyQdQJ4Khnj4WTIQ6YQDBMPsN77Y3jE9isWbL-ZivslPEv9HCTurIQFDYH0JrSbUvMj-cJGOJioeilCDzd3QO-FvBdApKbiSfKybsvrDdBLGY-HPqazidOt5lkGwO-dy1qfELijL3hMwIjIt1QEqy",
  "id": "rs_096ed760b24426be016aac6c7a602c87d0bf429e1e3aec2481",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.18,\"right_z\":0.10,\"right_pitch\":0.15},\"note\":\"The arm is still tracking the upward target poorly, though the can remains in the jaws. I am retracting farther and easing the wrist tilt to obtain a clear carrying pose.\"}",
  "call_id": "call_UZ1cAFpUx1TbrRqa8ytWQBEo",
  "id": "fc_096ed760b24426be016aac6c7cdc8887d08fa6225dbb52d237",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UZ1cAFpUx1TbrRqa8ytWQBEo",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8585, 0.6552, -0.5255, -0.0223, -0.0429, 0.9992, 0.7502, 1.5757, 0.5938, 0.2958, 0.6426, 0.2333, 0.7212]\nstate[eef_state]: left_x=0.2837 left_y=0.0002 left_z=0.157 left_yaw=0.0014 left_pitch=-0.1529 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3411 right_y=0.1781 right_z=0.0718 right_yaw=0.1002 right_pitch=0.0396 right_roll=-0.1922 right_gripper=0.7212\nstate[joint_eff]: [-0.0068, -1.6205, 7.0496, 1.6923, -0.0611, -0.0317, -0.0122, 0.1709, -7.8701, 6.0786, 2.2979, 0.525, -0.1148, 0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4461e179c4830b5102a0da933887a20877f9b5534745c4ce9ba67647dbf1d462",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccd3b72474a9e6065a768ad7e8e7a6e0c5a5aeb5e2e45fd7b92a86c6669ef74e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1952afd6959e4d45cb79f3caa459f8c50dab417c6eba45b725f976a7bcfabc3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0254, 0.8547, 0.6552, -0.5133, -0.0219, -0.0433, 0.9992, 0.601, 1.7447, 0.8577, 0.0303, 0.4561, 0.2695, 0.7196]\nstate[eef_state]: left_x=0.2856 left_y=0.0002 left_z=0.1602 left_yaw=0.0016 left_pitch=-0.1369 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3857 right_y=0.1745 right_z=0.0474 right_yaw=0.0665 right_pitch=-0.1707 right_roll=-0.1501 right_gripper=0.7196\nstate[joint_eff]: [-0.0752, -1.2103, 9.9897, 1.8779, -0.0269, -0.0073, -0.0171, -0.1299, -9.7026, 5.7094, 1.9414, 0.3541, 0.022, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGyMlJroIAbqVkf61KHbWrZEq4s_l9JTyqS6s9MrQ8YgNLrIxVFKUx6LUrNecls1UHifplaEqKYkn4uJ7RnLHjmXmNC2fstsggqhqSSfCVE9ieuLtkQ9OfF1t1hzIVHKKddcQiYR3RhXism6Hc0cvgjAMQn5pD6-QsiMdlF9lgtEi2X5mA8DOtWwFOE4IallS6FhmQQ9QCa_dL7_S-nRv51oj0RggszCwGmugM7FCrFtbxc9_DJUtocpYqR4eWKL5PhU03Q-g1gf5UjJ9ahM-7jSOxYKg0Cu50fWLiiitIMY0JPx5uQtzFlE2lMhxXZWYrbiKltFs56yiT4Eb-davyauiNngngcDWF8822T5UBmehzanyVmm_tRV4BcM8GlwSLpQVF14HTyy7BWxlOFq0i1F-NpCn1kJa5gcF-h0g62yunXZSEjfGWhXtkSMWxZsNS52hU0AyUFZBHrA_NaQ09KDP6Mythlv1S1rsT3-eed4u--n_oQUjFOngp91sd4S2BTWS8Pu1zXAuuw7fEZ2T3w7kVOqsJ3TU9RV-LEqZMl6Vb5qYjZGxbQR2ATptgv61oAzlAqZbFNlygIZLBXzE2jTWndprxergBU9INq6Y1NmWhHLmdfj-BLkvdS4-ClYwPJ8XT0eH6urxmbELpmsJuyXzFFjeOc_0wWUMelawOW2vWj-6ThWXSmb3U-qDAk92EuKqV7FOKhbgw_l726e0bYym5Wus_zNSx9FBZ5cB9hIRIYki-TaFZPM8W-zSWKxQ8iwnpbgGt6SV10e8MeRYNBy2HG5Tzl_up_dmADlm5SdmKgzG-znRig1XPE7Ehdwt-LbvTJiLVQ_vH377JsYY-TMBBaB4qHd9sfjdSa5IpkgFKzs-4AN3ZavctAf1fhw_sFgcNhDzNeGrDWwyRaxdzo2U456ktAIDt82CTxovcCdwbMsIKWgKNP3KRdHfywi2ozadFRN6SP-2r1c5ucLI8NNTRpkImktu0smmbtDqbmg473GPNYuQyLXk8Zm-zSa11VpoKXE3GTs8Nt_6TerSc7ceA6x3PHeDg9SE5g-6Bt4gwtmX-Z_Nq1yzb_ezQpP1T0HGRCigaeiUHjc_LOg6_CM4zPeVaI9ShF40U8qlfhMMIFzTHWaRXYGOmLsPtrLvrSgO62tMplRrT7L20B2BiFGSsMCMpB91VNhBuhzjMuKMVkkdga8c81eha2_FK6TDgeBGfZ57V73xNEsGsnDHWheLeOB4UfdisNvwOOpIcH342_2p5eGPojHkYdmPwaurBCLcDoHTZV8pCa7kaAwOCNzXylGJctzIUualTDe2w0_E5XGivfXYXEvKqcPzILqPnCa58qsnwruEzym422yu46H-SZ1ax7Sf0-GF_N8sAkDychSB7dMGbuv2hlnowTFxAEv9iqLhMcMdhzERU3AUYUesaanbgIjCS8RPBQEmEcLoDwo-iTwU7bk81qijZ3g5K_r5eyDyT0lJPQsJgYfyKwIuYXi5JiXZtNHl_i32SZHpFQbW6s3hf1b00b9k9SLDBDfyA39TRuvx-DxB0P7sZOPFlw5RY-L4WUycDB0Llb7EivRd_nqEkdaKZD5x8BZOAtYk92qxRmSIRlU2TvDZw7M2ucPG6mjgq-QqQtb5K6zSo5jNDiMtVpCh5D6vWiNWauoKQ1Em4oD3T9N4y6QuUk-nUO7nXPVlx9S1rSayQzy0f1xvAgMWTpjtrr-ZRkV514mot5TEOB3pVHEyz5u38H7IY4sEx1NT6goWxUC4lBN7ZmHkaW8Rwl_L6-iYTGDeNEJqVrfHv6CeDbCJTbFEDA-kCzVs_YeuFh4hs1NGEFvjFdXEq5z992TjqB6ORuEelBGZOshfZWN4ILEC86PaF8AIIGOmMPlOr3K2fRvk1vLjZ9KWvzxx4PDUnCwrBdmDwt8jl0-lza5hpjJuAEnGpsV0fAyEjD4UyujSbDEgl3r7XcYvADZ6Siwsk4ALxJo-7DVAgzm8Uc1ClAZyUDDXiSg4rAJvLViSjJ7AzQvHrQBwnQqJxGICo3zEh9xdiN0VB5bFMVP0bdZQMRqbzhKBj_QgMcI18a9ruuDtsCTcyFBsIhvJWm5QmXo4IVGEKomygKzjVpcAWHXTQc2OjCpSh5-4182dFSjcC_3sDPJaPRyYxomLT10YrDKMwayfw3_ZFbiKy4ZdtfkHrzrL359huB4DuvFaJcz3qADRY0qzNxLXA2qxMf7TQjOSAifRl0lhITVUH6n9o74FhHwApBxebY5odh4tFO7IqzPR719bjpnvV46UPGLpQBQQ6mzB4iuB0QgHaw6Lrs7boQ8s5AOKjyHqPTrWmo8GSyO4XT_c1r6aqzddNr7MvNmy4UIOVVRFnWM4pmidZu1Bdd-IKlTDtLF2Y3V9PcHTWdzhThiE3lzCnw9cIjtKWdV2U6wWB0ArwEpNSt_Dd1DDUhVkoq8e7iP1C3olkbJr35tcT4kvGc0ICDi1HC224SNI_cjHu9uDYK8W0kUmFKMBcuAO7TcvqbrBC363BTWqWYj91xk32SyVPXcZ-VCs2C5Sgf6XVmSLnD8ehn-KrhaAXcjHPlXKDC_OaOjxv5GNWsfJ4bvBeSnctw=",
  "id": "rs_096ed760b24426be016aac6c81b0b887d09a11e4ef8614684f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.28,\"right_z\":0.17},\"note\":\"The can is lifting with the right hand. The burner is on the left side, so I am bringing the can toward the middle where the left arm can take it.\"}",
  "call_id": "call_jLPU5DzUpjiAzWooAg4QXtbt",
  "id": "fc_096ed760b24426be016aac6c8b423087d09b57c7c06764587a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jLPU5DzUpjiAzWooAg4QXtbt",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8581, 0.6552, -0.54, -0.0223, -0.0463, 0.9992, 0.9672, 1.668, 1.1252, -0.2943, 0.7624, 0.3981, 0.7225]\nstate[eef_state]: left_x=0.2813 left_y=0.0003 left_z=0.1544 left_yaw=0.0033 left_pitch=-0.167 left_roll=-0.0041 left_gripper=0.9992 right_x=0.3353 right_y=0.2777 right_z=0.1528 right_yaw=0.1444 right_pitch=0.0011 right_roll=-0.2154 right_gripper=0.7225\nstate[joint_eff]: [-0.212, -1.5111, 6.8855, 1.7363, -0.0708, 0.0366, -0.0122, 0.212, -7.7333, 8.7453, 1.6386, 0.6129, 0.1783, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81e5aa364e3dfe0a57313f2b765b00ffa6336db8054e0d571da9cd119ba60a95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b2e047b54b24a6cf2c5a8de947704c946fc11702c8ab94736a6c627d0290c8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b04808da78641e5900bfdf35a8456cb3344568e94021c848dd7757a7d7d78de",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8585, 0.6552, -0.5255, -0.0223, -0.0429, 0.9992, 0.7502, 1.5757, 0.5938, 0.2958, 0.6426, 0.2333, 0.7212]\nstate[eef_state]: left_x=0.2837 left_y=0.0002 left_z=0.157 left_yaw=0.0014 left_pitch=-0.1529 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3411 right_y=0.1781 right_z=0.0718 right_yaw=0.1002 right_pitch=0.0396 right_roll=-0.1922 right_gripper=0.7212\nstate[joint_eff]: [-0.0068, -1.6205, 7.0496, 1.6923, -0.0611, -0.0317, -0.0122, 0.1709, -7.8701, 6.0786, 2.2979, 0.525, -0.1148, 0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGyT-yZcLFGCQr6p1-5G0bKRo0LLxxEnOhnagddc3MJD-FDnSdYGKU6Iyk4lyfzgcPlO8XhtvKMDe74HKYLYcRvW_ku1EXy_vJqOyNtRotvTdaY00BKNPRBfi8gYe6AZAgT3H10Igq82Lt9PKo0BxvJir7sxgCYuC2yoYQdQ9WtMiANZ559A5IR8DHDlp8YIIJC_fJ-P80MJm-9oPK48PZPbwVpCgeia-r_KA3CU62_be3Ddw-hdRb133rUAidyCTZkeGX44NkrI5hyRMyN-MijxhkkbQYRICd6LaJg3vsbQ153d63G2uTkfw8QLxsUn_Oq3E51z--99BbjKPEGLmPap63L7iUKjTEhLBbXx4EOKB-wgH7qeGKEWdYORKCuTSTHKZGApdm9NP2yCDxCwb8XyWQxMUXq7hEUfe5cw8HK_gEkCyQ-5NO8VegfnBumxWsQajuJKbP3N4Eff1JPvMe0xoUkmqY-hfDYi_5-RSTUpc0Jhq3-TMjEMxvhuy99xak6IgO-AzV34tdbd88jDh-h7u9eNOdFrBUoBnLQrIZE3OpbwgaAyxbjRquiyiwZ6hEgQKyTPwj8EDouH3XDPGpS8vuWYP1UnGTqv4kN3jzkt_SVM4MhFmgh0LG6Xn-IqFn8knUOoW93LCUI_YCe9JKAhPmNlSYicPybHlMuZ5xEYj04bbZkN1SfHSEZ4cfu1xYwUAabIahZHtU0Hi2qXaxfJndrtaoCYflUxIj5z1055h3Ur2iJzJolSRajfMqSbZv7w1z4ZMUoZfZ-OEJwgYXEYxverAPlkyD5N3IIV95HAj1kB52Ba1ZdD8p9f3Zy8xc2f51zywYWZffdXbzEKXL8NfEFCjQ5SwYl_opX7M71Tq_V9dYnfC5O5btOHSYR-UDFwaEgQyikBmddZrZBoxJtvL6vGc1GoIMPKOVmsX9m0y-GnPI7Dxrwx6tcFEdfTHTNAkxDKO9Z-6RiRzVRQm0nE7fGDWmNfxDKOW6ad_G-TsQ5B-ca8z1KokTlOCRrTOE5ArY-XxaHVfcll58F0AM4rw9tPDolvtFwNDb6X9zFTNcYd85szO1iMaesLT53F04H01REG6ixzbVgUjNk_iKb-QWivaUAsQv7VJQsQRT9Dl6QjutXUZvNSw0WtZMPGGfCbhI7KKOXkJNO7KFhIG33X9YfoB0mYerazHTDkYqpmWzcidRMKqXrdHwjACAS8W1VQiO1i54JOKvbySyb2GedFO0r5Z-65R_VbHDKzXurQEHWx-fx2ActzChqJB7zxot0d07vxw-JWRFn0fGTlO92D45pmxqS0fFxfeYypAYtUfqEaezvq7zH1I7b0dYinBEUHiOqJq61GIRcXaSC46NTScxBbZ0wKJqnqbWfwZcXlr0diZfTgIgTz-WAaH_sLJR6huYrk6VxeP1WqV1kyT5jNtC3fmhs4YFsdqh6BmKDfUMeU47f3HwcXe6utaW0I2LbH1vN-ROoeTGdgYB6voTAV92JykgILWMJ72K4G0RRiKVUZeEJ2tF_4cvfQPbDG3nN4Pp3W7wuyh43YU5kg5mCo0gj-uzlzsu-VMcIjfcALDe0=",
  "id": "rs_096ed760b24426be016aac6c9010f487d0848a82e71d4a3280",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.32,\"right_z\":0.05},\"note\":\"The can is secure above the center of the table. I am lowering it into a clear central spot so the left arm can pick it up without the arms meeting.\"}",
  "call_id": "call_0qPoegmjzrpMkKYNHDLNyQMU",
  "id": "fc_096ed760b24426be016aac6c91c81c87d0ba0af850f69cf0fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0qPoegmjzrpMkKYNHDLNyQMU",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8585, 0.6552, -0.556, -0.0223, -0.0467, 0.9992, 1.0149, 1.9629, 1.0752, -0.0593, 0.7765, 0.4324, 0.7224]\nstate[eef_state]: left_x=0.2786 left_y=0.0004 left_z=0.1514 left_yaw=0.0036 left_pitch=-0.1834 left_roll=-0.0039 left_gripper=0.9992 right_x=0.3325 right_y=0.3074 right_z=0.0448 right_yaw=0.1622 right_pitch=-0.0598 right_roll=-0.2763 right_gripper=0.7224\nstate[joint_eff]: [-0.1709, -1.5521, 6.8581, 1.707, -0.0366, -0.0366, -0.0122, 0.4581, -9.0462, 6.9949, 1.5311, 0.5495, 0.1734, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec6456871ee0f9ef3abf23fcfb3b21ff597ec0ed390c3738627e9fba4b341145",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e3040b00d5b690f594b99e029d80a207ab84bf3513e7e6da9ce466a54d36c80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac4f9490c95a08336fca26bff17fc5e4c6d6218727e5328ec91a3a07b3ade4b0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8581, 0.6552, -0.54, -0.0223, -0.0463, 0.9992, 0.9672, 1.668, 1.1252, -0.2943, 0.7624, 0.3981, 0.7225]\nstate[eef_state]: left_x=0.2813 left_y=0.0003 left_z=0.1544 left_yaw=0.0033 left_pitch=-0.167 left_roll=-0.0041 left_gripper=0.9992 right_x=0.3353 right_y=0.2777 right_z=0.1528 right_yaw=0.1444 right_pitch=0.0011 right_roll=-0.2154 right_gripper=0.7225\nstate[joint_eff]: [-0.212, -1.5111, 6.8855, 1.7363, -0.0708, 0.0366, -0.0122, 0.212, -7.7333, 8.7453, 1.6386, 0.6129, 0.1783, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGyYq6Qb6Csur8djS3TqPyM79QJ7QcKcvEr9kznmcQGGIvumkiqoWZPKwxCVfz65mEw9igX272cau92kHeg6t_EYosiT4XAYlBIIiRey07aAngkTkVwv6IApaOgCAIXJ6q-GhHgcPpGZWidSgrpHG_ziE_1ieVgPvcJImNoB7-2i5Wvjwv_pLhS6XWMvarQRvHlj_d5od3kD1q0IEksDg3FALRtcp1UGdLSKx0_J2RXfG6Ns5X9anWghiKLnlTRH5GVTRn5RJQ16l9q4pJ7mBahCh1Fpm9x_GCSMWaCk0GqLdic4zM_UyUy3lrwb5jvUSThs4yRwFKOBV2YV4rkSsPBupmlN5Q5vsJH_sbfilg8RTgx2xwg6DhhNKXgHmhuH2DeLi06UsFWRxKtp5jrFa6Rbd_k9lEiPugWSxx2kpnH7iBGwnT5NlmgMrFvldaNGVBluWuMZuSkfBH9BMQH_yGj9mqEAkGC0VJ4m_M6eKZdjUs3Lov98-YcC35wURUZbphLt7GEhRGnMvC7kpL8Peve5TbbnQaZTPuKwrPaqq_tVVUsgb6D-Ea_Q5FqO3uW9a6m3622rG4WZFG13W_3RIuk7VmAMWYzS94Dax6IFMGBDGhj1pJXMRb6kQVdZbm72MhinftjkjNsCqzPG-O5K_oD2oHtfUtCFKeiKDwBcOc7Qz43YSAxnKvpQU5-UE8H6Z-c21Nv-u8yQihlsPCcwDjIZ2Efe-dJITM_PDzzSimu4HvxtwxTW4dwftuqFP8r5-XZy3L8WU0bjyDaXffDnfStkbFL0Z9U5hiC5nkvI44KX_PFyUm4QQjJf_n2Z8V3TYGbm-9oClYpM440ZMEAx0_7P_-_n-BGPqB9h_VjA8a44IA9EUZzzdxGvPfGapZz2cRIMqalgV7zpplWU-1Ix4XXqcQpPQhVi3TpdBPyItXksy3w4KC-lDLfxOzlh71Bne8ZRCPP9yjokqzZpiDU1YpaB75R1Ad0ueKUfhSUvmpN-cuEWPdAlJGeqDcGtR0fH3Yf3vMLnPbLqSbiRsyyVMpsF3pKeCYY0O0lZ3es3NbP8So9fdIGnSGPB20DUb99htCng3-W-UrzXmQ-gOgE-opyYimBueg2YZRn2N_r1058yev0MFYmUbGobAuOVnQhFYF2C6nE0NE9OxGYDg0_hgEg6nI18Pl_KhjMSBhWHDuTztFBhT4UVXzlWtOgpNcd49MDy2gd0Ohi8lxkrnbFZleyQimjCzLYGTNqEv1oMswr1K-Rx8xyysMwp_GlVGt8ggeZS",
  "id": "rs_096ed760b24426be016aac6c95e64c87d095eae8b7a69fb1b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.02},\"note\":\"The can is just above the table beside the burner. I am lowering the last few centimeters before releasing it.\"}",
  "call_id": "call_90qXCVsMMoESys11N9SWsMxj",
  "id": "fc_096ed760b24426be016aac6c97182c87d0987889bc11af9b72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_90qXCVsMMoESys11N9SWsMxj",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8585, 0.6552, -0.5625, -0.0223, -0.0467, 0.9992, 1.0168, 1.9961, 1.0611, -0.001, 0.7727, 0.4347, 0.7225]\nstate[eef_state]: left_x=0.2775 left_y=0.0004 left_z=0.1503 left_yaw=0.0037 left_pitch=-0.1898 left_roll=-0.0037 left_gripper=0.9992 right_x=0.3329 right_y=0.3106 right_z=0.0329 right_yaw=0.1657 right_pitch=-0.0545 right_roll=-0.2641 right_gripper=0.7225\nstate[joint_eff]: [0.0479, -1.4838, 6.8718, 1.7314, -0.0464, -0.0562, -0.0122, -0.4444, -7.5556, 4.8752, 1.409, 0.3443, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ca7251899f35dd05ab3fd33d78ab5e7428b8aa674e7df34176de15cf3071871",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dbe63f96111c4227f39edf7364b2dd319ce2fc17b115f74b375fe327af1b30b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d58b986dcc9b6cadadbbd20631478f3ea0116e8cb818e60086f4158790227a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8585, 0.6552, -0.556, -0.0223, -0.0467, 0.9992, 1.0149, 1.9629, 1.0752, -0.0593, 0.7765, 0.4324, 0.7224]\nstate[eef_state]: left_x=0.2786 left_y=0.0004 left_z=0.1514 left_yaw=0.0036 left_pitch=-0.1834 left_roll=-0.0039 left_gripper=0.9992 right_x=0.3325 right_y=0.3074 right_z=0.0448 right_yaw=0.1622 right_pitch=-0.0598 right_roll=-0.2763 right_gripper=0.7224\nstate[joint_eff]: [-0.1709, -1.5521, 6.8581, 1.707, -0.0366, -0.0366, -0.0122, 0.4581, -9.0462, 6.9949, 1.5311, 0.5495, 0.1734, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The can has contacted the table and the downward motion has stopped. I am opening the right gripper to leave it in the central pickup position.\"}",
  "call_id": "call_j3hUKrsm5F571oYZTaymLZk9",
  "id": "fc_096ed760b24426be016aac6c9a64c887d09946e0b4e2c4dc20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j3hUKrsm5F571oYZTaymLZk9",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8585, 0.6552, -0.5713, -0.0223, -0.0467, 0.9992, 1.0142, 2.0235, 1.0412, 0.0051, 0.7666, 0.4271, 0.9948]\nstate[eef_state]: left_x=0.276 left_y=0.0004 left_z=0.1487 left_yaw=0.0037 left_pitch=-0.1986 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3291 right_y=0.3037 right_z=0.0155 right_yaw=0.1687 right_pitch=-0.0866 right_roll=-0.2978 right_gripper=0.9948\nstate[joint_eff]: [-0.1299, -1.265, 6.8581, 1.6288, -0.0562, -0.0269, -0.0122, 0.0068, -9.8256, 5.6957, 1.4042, 0.3834, 0.0562, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4305455af9043fd865d869c9027dc6dab26669ac6603ac69d1f8a9da375601fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbba643c9e6ac73d0c53f772a434074c066d158f85987eb1ff9f862e126b950b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4936086390c7a4bbfb5bc806b6d850b4a5351412462b53d9c9530176767dd54e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8585, 0.6552, -0.5625, -0.0223, -0.0467, 0.9992, 1.0168, 1.9961, 1.0611, -0.001, 0.7727, 0.4347, 0.7225]\nstate[eef_state]: left_x=0.2775 left_y=0.0004 left_z=0.1503 left_yaw=0.0037 left_pitch=-0.1898 left_roll=-0.0037 left_gripper=0.9992 right_x=0.3329 right_y=0.3106 right_z=0.0329 right_yaw=0.1657 right_pitch=-0.0545 right_roll=-0.2641 right_gripper=0.7225\nstate[joint_eff]: [0.0479, -1.4838, 6.8718, 1.7314, -0.0464, -0.0562, -0.0122, -0.4444, -7.5556, 4.8752, 1.409, 0.3443, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.19,\"right_pitch\":0},\"note\":\"The can is resting beside the burner. I am parking the right arm out of the way before bringing in the left arm.\"}",
  "call_id": "call_odWpmhaSDk64kZTht6ITj5IZ",
  "id": "fc_096ed760b24426be016aac6c9ef5c887d0b53ed86ffdade51c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_odWpmhaSDk64kZTht6ITj5IZ",
  "output": "executing move_to over 26 steps (2.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8623, 0.6552, -0.5854, -0.0219, -0.0536, 0.9992, 0.0242, 0.7761, 0.5789, -0.4118, 0.091, -0.2962, 0.9954]\nstate[eef_state]: left_x=0.2737 left_y=0.0004 left_z=0.1453 left_yaw=0.0073 left_pitch=-0.2165 left_roll=-0.0081 left_gripper=0.9992 right_x=0.2857 right_y=-0.0055 right_z=0.1672 right_yaw=0.1054 right_pitch=-0.0516 right_roll=-0.2944 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.8256, 6.8855, 1.6288, -0.0415, 0.0122, -0.0122, -0.1709, -1.7846, 10.4137, 1.9512, -0.022, -0.0757, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7e61c04e951eae3f60b440d4702ef6ea331758312b7cad24f908f63e1b8a311",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae3d92be65250f9c44bb40e949752ff505c6f06c861d503bfc78672cfd82c048",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c25009ba57a96376ccc82a3ff747e9db1a7e2ea17375bb7a6e1745919ba678",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8585, 0.6552, -0.5713, -0.0223, -0.0467, 0.9992, 1.0142, 2.0235, 1.0412, 0.0051, 0.7666, 0.4271, 0.9948]\nstate[eef_state]: left_x=0.276 left_y=0.0004 left_z=0.1487 left_yaw=0.0037 left_pitch=-0.1986 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3291 right_y=0.3037 right_z=0.0155 right_yaw=0.1687 right_pitch=-0.0866 right_roll=-0.2978 right_gripper=0.9948\nstate[joint_eff]: [-0.1299, -1.265, 6.8581, 1.6288, -0.0562, -0.0269, -0.0122, 0.0068, -9.8256, 5.6957, 1.4042, 0.3834, 0.0562, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGy0H6DMdrZ8HcLd8hKId6zk8E2xaJM4NXunxUOwXfrcJFvCus2v3jvu4giQBcRWyIsZEhBi8hbIscYALRs-OJHY_nT10I40FqOWueaRhlKYwY8V7cOAX33WlUIvFH2KY_8sWFOWOrFQFiXp79KVPc8Q2KKEDKhdr0riNaUEfU3LPdhwIbTBs5QMluRgG0uXpCTlgCzhPqH8E7_W-WvnvujESr7p8t3SphndMFjMmlvrg3GEBYq9o3hjZ6qoMVKCwoNhx1oBqXJgGKrTr4MtvrEYGckxp2t_P07gvcI87KcYj--h65n5PWX_uyEFrcQDrf_GWqTOnB5oP2juVKIQ-z6gvmLfgn0Ed90K_GCoXr2mwjP-uDnfRa7Mb4JJ_3962WwJyw2IbH3rmW1kSGSBMLE1gfDtF7FqSHTs16mK3zePz7Q12Z6S-bG85q-6uEmG9rxr9Tq4o1n5rv9tFwEYHTgpk6eEI_LPF_oJuGYM9N35vzw8PXnbSYw3bdC7oUnz5lez9Qa8vvMG2uF_rjAQAnPuKYd97EqXBTKemfREVsZHWHW0xHDN6VYjQXHUN7RazNBWGNLhS8RsYI3GlShnMRoJwII-MhozQIJYCeWrNkNFa_U82pWHx1ZKWgHR1RZHLgvwRcZCFBGMpY0K5jrUfBJr99XzqhBRLlS9Kqva6_LHvnAr3TkKws5bu3fTQIqcY9uuiGA-ZMFw-Vlos-H6GW-PQJMxcmekLKRtxxQLWZ_p-DKQvCMIJCoQd72kd_SC3Umv0YKHsmQxr-PkSiqO9ZBtYk5PeXYYezlrhWF3vWQRDkngNLUctoOG9WOlfYVAaa_RIvYpSelRzDkGz8TUHSBQVb460AmX1Ds9EHuN7NBJz1qiUKhFu8pGfAk3vjqCy3ORd4c6yuGEHDw5NiOrR4aYgsEhRsZF_OxkGMJ7jPxzQQFsfSQh54srBx28yvBw-6741a-U7kTiGaDRTkXInMMipD0TJ4Q6LOZhPh-tNSu5_coe30r8b2szML7-omO65wD4Oc6EJIrp51o_wQX5MQdA8H1MiJ8FTVUdg8itF9Oxx_B5Qai5qNnGmCMwSPYqVUn9uD-VLth15BqlB8AXCagscmpFZ5UzwQpUJnlkEe2m6IrUHrymAeBefEtD6YKhFB5resVfgqyhT4QF26K_t7AOWSzOhzhtn5fsEgX7w3pRv0Rndy2uYoxR6HS3BXLUIAn7DiVe0OTVlt9_LxrRyPIpVkL1n433bcpghaKpZDQaf99aouP2ZyKeSDAiaGpA_N5eH-L_vo0Xdbkot_sM3D99dff6NlwdOmHvBta5hBqi55ER4vK68vaJzB3WJAmyVj_6fJRsy-Sr7o-bxhzUxssOF2_O3GMvkoYlD5ZTB9hmvzJrFanFRKAasS5WG6fnYi9W0vNjgeoiQ0pMBdHgmkMTQmYaLnADQFhNamnKVyJb02LUwUwoR50KsFn1SfGEjqeTFjkXMfwbVzmCxk8zo-oihsmj0RcGothaJEJioZDIPheLh8gs2BhXfTYTEQC9l_I8_LZeGEgJEzBygU4QmMgzEoUWOEzi8lmwagNCARx7gdLyJNzs7pbXrBnweVDkaUlRPxrH9IX3pXHTAXn7iiOG-6h9a7Nb1eGLxzLhQ3aMrhKYUJlkKMcM3jYoryszw4KnbPbBrSDbJO5wpZ_ZXWWBlvz0VL151fNHMBVIcVjSBaWTenfmdHevr2Pcdma7CHM1pgnnTVNLibTF9fDzfYJlz4GAqfuwW44fUl-eNLeh2j2shCFnXn7it-IAdlqOg2dCDHRklHOflrsQsGnNLSpHvStiyt9sOQOQVflaw5s4LhAtaRfJGKG3mh7OXUCRl63TQBv_IeIQrF6oHmwEPZFZG4FvvDtFPYBfeIBICmWOeys-3g_kY8xqEpBwbo159fDirnA_UjbVk-f6KdchF9xvb0j2bVfv5OSMqBIYxRfJDN5GMHckvDWGFDhH8BjrPum5fduJFa4yK5lK46oVOz7Y_syMLdY-UGbmM-HeTSZYbfWfPnoPdMB83w_SBko6p6K72L8WHFHIyC6wrQoM9yA4ZuyKBotQGurX2rTr-RcASTib3D5pbSgzUkoz3YyL8I_tUcxuV6qRmDcMnl-50FytULWu2cOMvsoirJCW7VoDjFR9DhpL4QArH1ZibOAp7WtQstymvY6fJxhXtGKnb6M2AyYnJgAVv-SkCZXz3boBEMG7TDUYLIBCEX31e73T67ftKYECDkSx1H3743BOTjcZP-fdN81sw4NTGUUQBvhHZLvDfl7ftkVX6gS4bbDiChcESNoIQTmc4j0T-FUKw5tzObb2Dsb0nRZgiT1ZeW0ujggY977rdSj26SbORpzyRjA-0pZ9U9nuuC9T-qBS-D44jz7IW3KX1ehWnrVEAUFwZQOkqLj3d0EFU0z3H6C9PdKsNKXo3QTClRiQJUReoEvc4NxOm42AajH_KbTpONxdhUIScUJz8lxY3kiPAgm05bPfx2Y5bK9DbKdAxbTv6Im9sTNIXZwSAjP5SZoJ9IzW5eat6k7YhOq56JCcGXSHlp69kqIl-cJp6hCTV3dD_6fgZb7Kb2QnMIPckuEZnncbWHEKC__4VZH-4q1Lw-ocy2dm1cA6OwLQtR5rj5jLh6EuhCpSTU7ss5RLuWQvQkXsqo70N86tn2HI0Ust5MvMwXaPlVsSJKq5GPpKr21Y3FoxJGMeoGUDKUmF4NCayEi8XzP5mWIBYO_oECre0ZGAVrQnlRR648DPUzjVhvCFy6HFknPYUYoWVH9v1xISx9f7mw4m3gClf3Z4DIxhyRlK6Uz90vT6Gpwf7nS7s-6-iPMYttBpvLHoIcFODW5Sa_m8CK0SPP9X__mlBZm4ZQLnL4XNbQiJM2JbTpQflZI2aa5j0jILVg_TBK3AGezBMKMqgIPAA23PL6p-CRjo2HznNPKXaECw4F3rSu_FdIyk6lVZ0e2WbNzDMoHUeBgf-ztZPS4njmK-38VXHHWSRe2dsYArW8OhqGPZpre03r_m8VkGfs8JmkhJyMYoKHR6r1rSIGAa0BrIT43Q_YBNZEpOGn1BrkTI9oxL1Cni24K5IVSuCw==",
  "id": "rs_096ed760b24426be016aac6ca6836887d08a3a1a56dff08b3a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.19,\"right_z\":0.14,\"right_yaw\":1.3,\"right_roll\":0},\"note\":\"After release, the can tipped onto its side and rolled right. I am repositioning the right gripper across its body for a stable sideways grasp.\"}",
  "call_id": "call_BKvDdrArB7o3nk55xhqehiS9",
  "id": "fc_096ed760b24426be016aac6cb2aa1c87d0bb377824f0eb7ccd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BKvDdrArB7o3nk55xhqehiS9",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8642, 0.6548, -0.609, -0.0223, -0.057, 0.9992, 0.1192, 1.9102, 1.4418, -0.5678, -0.7799, -0.8921, 0.9954]\nstate[eef_state]: left_x=0.2695 left_y=0.0006 left_z=0.1406 left_yaw=0.0098 left_pitch=-0.2425 left_roll=-0.0093 left_gripper=0.9992 right_x=0.4348 right_y=0.1808 right_z=0.1356 right_yaw=1.2228 right_pitch=-0.0758 right_roll=-0.0174 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -1.2923, 6.8444, 1.7411, -0.0415, 0.0366, -0.0122, 0.1983, -10.0444, 7.1863, 0.779, -0.7497, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cb6b2e76c2b77218d8b8026c633196d319db8d490960357152d4d79eb3a5454",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56fc6fb18c4e01184315f8a53911308ef4ee03ded7f09b6cb1e3c6bbb89233ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82d675bba4491c7c9f5a428f847d86119b661f1620e2ba40e3b736d6eaaabb25",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8623, 0.6552, -0.5854, -0.0219, -0.0536, 0.9992, 0.0242, 0.7761, 0.5789, -0.4118, 0.091, -0.2962, 0.9954]\nstate[eef_state]: left_x=0.2737 left_y=0.0004 left_z=0.1453 left_yaw=0.0073 left_pitch=-0.2165 left_roll=-0.0081 left_gripper=0.9992 right_x=0.2857 right_y=-0.0055 right_z=0.1672 right_yaw=0.1054 right_pitch=-0.0516 right_roll=-0.2944 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.8256, 6.8855, 1.6288, -0.0415, 0.0122, -0.0122, -0.1709, -1.7846, 10.4137, 1.9512, -0.022, -0.0757, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGy-7NR9NxleEnsqaWELqdv4WErnh8GJw_x2fIts7V7pHdr8wyGBRFcR8N8IhOmZB_CHI_Ggsu70cEbdl6lf8HWS014mFJf54Fs2VN_qWmhZI-L41BlFFzoKdM57CCSePZlPCyzkz12ibiPbwR3d6UuCTN79nPef7xR7TMbsS6HeDrsPn_HPCE9EJSsmK8K4UMkTNwzbWOnByYi1vyjnujIra4Sbm4XkBHKJT41fZUgVw88PDORhzyM53j_LhZg_Q3qvp0WCjq98_VO_zPWowytodWcOGzH0z9Cby5jOQdxOsJ6unHg6NaWpndfeAyHuBxrz9oDCggTFejDNWqEneaYf-3HFrltA7Xvo2FTawdWcDqmHDEdg2zdrSiFVFU9jKg1ePzpeDfByjyVsNBf_iPtW4lmDwvvzTBgCJo9vgzoEcsRDx8hANSK1TF1M8b5f1fFIxv8VBIDCzmML-_FClqeed7L8_IddXEiDTwWQdWqo_53SVqVaOaKYg4bwTffCrgIGPEC_A8t0SjTezgtJST35K8R31QHfKk9Z--I5f-FUMimuGAiE5ZTCUIXzO5uH-QO06Zz01MkbqOWSWyTZM4YbZlhyylnYUTqkpEeLjudyAjPQepvBVxXz_47WkDpGG1PiyiB3B3HCv4HlbgpXyC9XAvg38sri4GWoQ5wEMNJiGafV02dZfVej7HToNp_16dNehsZCayJ5GiaHoUp6SBRjy_TnHVRsfLELnqGnE8a551GhrXBhfDadTWh-g79X6IWHQv1UprL4SGBPfqM6aXy47twjhsbVg0tMp9Q_L1ZeOidjBf-gpsa9LiNSajEjZ766GERG5fHJVaHfc_fOwDB2BZNcKvIetWlyBGjLBiLQ01gc-j2k8ff87fXBCZDDF0xTRuqdGn0yph3haESHQ2URpRNXWI9j_CeINzZ8KVXb_-Y8mvK4DlYtNx8CiqRsAr1K_aU6ZEBvxVNAtCEylAwMia4P6WIwWnCcJceGV6uXNqrPpRPAPCieQUWf-PWFulkAKF9BeufNnRwoeJRw_Q-HbWAN6pDJwJsQIGCgMn_DpDcZUrv56yEEhmqekW4hu1nMkFbMh0QackyW-TIQoTaxMu6HLgZA8ArocKjS2MKZhQP6D5glg4iXoQiiQ_pjrBu6sbmBpp_8fnBUdWszl20TLPcseVx7fgQdW5g_TGQJak1II709Nu6LqsNcxoAaeLYOCoi7J-ZvFs87C-f1PDXbFV9UW3_aWYIpObOlguyCC2kuG8JMaU1xYttc3LBgVMdMVUs3XPxsyfQytLz9Q9lfvcSkSSt58jIhRibLwKB97qN2qgCeW9ibMMcgI8Vuww18oPMIrrWJhN6acF9coq9eTCDwOZ_drn6y2ZGeWBeRS8yz7yAPC07jXUOtKVfUS8thjGuJREtZ15PyMnTqT9NIpnpEuIGm22vf-jtC8ZJkcpyGg-_wJnl9GhJALSeCE-U11-IR65LZrouTaRy6tq33PPsBGXJ0epYcFglSk91pFqMb8Yoq6vLRiBeMFMsAAz6n6yWFFNjo5CqUEX62_Mbbkr6OVUMefg-jEWwFpQysOQHDuNUFlMg8zGR3QmG0Slb5otdxs2Qn6cAqy8wUXzjZiYxFLhWJwVvmML6BiRw1b9O3A9F25VQmuprM_gp80tgEJNShDtS4HyDCnZXUn6Zo9N6DmLlK59ou5IXhgmfHDAlku677nJyMo7t-OTKkQ_wpglfOOsGryRJ6oxoeA-snW7CP5kC27ITp_jC8a7V6XpfOLT1Pt7sqktIQPlvrAseonGcS_cNhR_T-O624glBydDukDOkqiN6Ayf3TiT8jz1LtRgAqgooiUI_xmb9Bg9sl5EwQzVLamy8U6WHTmuzcQCc0kJ8GL7X49pe_3-dHfqE6UuRuHvSXPM11Q9prdHTrdEOUaIrty9nL7aVDSivJPepm9S3xlgXswgTeAmUtfg7_WwiJYFPltdOwDEc_OYj-",
  "id": "rs_096ed760b24426be016aac6cb7ab4487d0a958b6fac14f961b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.22,\"right_z\":0.045},\"note\":\"The sideways can is aligned with the wrist camera’s jaw column. I am lowering across its center, with a small adjustment toward the burner.\"}",
  "call_id": "call_1MlB7Z5RwLjjnZpiGpURRc4m",
  "id": "fc_096ed760b24426be016aac6cbd530487d0a97475211f42c739",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1MlB7Z5RwLjjnZpiGpURRc4m",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8646, 0.6548, -0.6147, -0.0219, -0.0578, 0.9992, 0.2291, 1.9366, 1.1225, -0.189, -0.7258, -0.7975, 0.9954]\nstate[eef_state]: left_x=0.2684 left_y=0.0006 left_z=0.1395 left_yaw=0.0099 left_pitch=-0.2486 left_roll=-0.0099 left_gripper=0.9992 right_x=0.3962 right_y=0.2164 right_z=0.0512 right_yaw=1.2475 right_pitch=-0.0999 right_roll=0.0054 right_gripper=0.9954\nstate[joint_eff]: [0.0205, -1.5658, 6.8171, 1.5409, -0.0611, -0.0024, -0.0122, 0.1436, -8.1026, 6.065, 1.2576, -0.3883, 0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7abca6dabce3184c1165d82d1b124d393cec9b51e5bcfac482d90f73fbe7be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e388ad7bafb380b9fccefa581f33fb6a06b9b072322c75f94c4a47a923075209",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:387a27b1144637952b7b8f563fd8ad25814272773f74cd91ec31ec02f1ba91f9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8642, 0.6548, -0.609, -0.0223, -0.057, 0.9992, 0.1192, 1.9102, 1.4418, -0.5678, -0.7799, -0.8921, 0.9954]\nstate[eef_state]: left_x=0.2695 left_y=0.0006 left_z=0.1406 left_yaw=0.0098 left_pitch=-0.2425 left_roll=-0.0093 left_gripper=0.9992 right_x=0.4348 right_y=0.1808 right_z=0.1356 right_yaw=1.2228 right_pitch=-0.0758 right_roll=-0.0174 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -1.2923, 6.8444, 1.7411, -0.0415, 0.0366, -0.0122, 0.1983, -10.0444, 7.1863, 0.779, -0.7497, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGzEyG3XEDGYykUcwgDLs5QBE65XFerRwdD6qRxDBdjFe4_TPdGBoAHB1ofcrH89MiJoOilmVooJsczFUHCos30WHX6cuIhu7KuFhFjBrRmZmqyWLX5KRMZ93UT-HEluRptWvqMqgOC2ziEW6eCCctRJrjiTK4PsBieuFip1v3tbXfodX0JeQB6cHgMY2IAEvmFQMo-Z3-UnwnMzonU5S6AbVyRxyEFAZ9P2TAuAxU5ZF2l6LF2YX9pG_eTTk9aZYP2t7NqywHoicTFGa_9HF9cgyhxC1WF9rCcR-TJj_P4VlxDQPXyHjrgEYxGxDvi_4NBWuuCgxRcI8Hc-_v9RNm2Tgf7-eujieSZoBVIkdVIvAx8xPq22UXxR_FDxQJeJx-woDtt6R_-joxry9l-HwUZHrOt94Fzs7tXom8f1XYtiTQ7oxM5NZVe9cCF_FUXqe9w8lOAxqS5Fnuo20qCy5TdkPBt6Ycx5Z49VnCgJ7ZAE4AyFoGnBoLFzVgHMY-PLnN1XGU-qdLTQ1W6mKYuLxacNmMVGfbYIYVR2ddyaD82ykbSvPYpVzLOpIEr5S2n-35VRyCc6DoSp9PQmN6gDhsxjpxZvvp5K-7D_54ArWRTzgDLMAs6OgqA-Cxfm0TfAEqEA6rlae1IMiCkCMUqNua1H7Pt8pdvuBWzntUaWwrpENtFg3A2G24L8ln2sLtl9Dzr3H7HzyXn69AYAna7rfdBGJIjNT2O0IG48Phro2nCPu_RXujuUxW_vj8bZvGmVopD5fjcgPHtj5ty82aZdakZj2osSd-1uHq-RloPUyKPOKBL2xxvD3lTxCns5UfAgbqu4VNGDEFwV3UgdG3GPp4oTv5EQZY9KGCU8AeBP20sffArTya8HnWretEyJBIuhU3ywtZu_CIFuQHnVqQPpN6OUglOkFJ2ROfLpVXB-wd25rx_hY6EQMjcM98R7hRdJjkstsMFC9WeRSpBOLXm3J3PZFPemipAIlZOPGPu4zOLlxCjXjkuAYWI7FBh3Fy7Y0H42Zpk-OmGlhnR4b7HsBaKSACbVXolhiTDxMdU5nk4EZDMJEiTIKUGrYJLMzl50SFVWiV0cKAezXEelRbUDmhDH5C4KahoTiuBTDfm01aVUw7QqcQufoo2m0-HIJFKUGYoCXYoUfaWKo5XEK7KT8Fhl8zj3e4vPLdSF5AgdTwl_H7bU4CuYmUFW9BOZE7xEFkiYbpqn6Y-DHLuAa-GKib3hycidU6yGG97Kalns6mOJedlQqgTeCoqePFhx6_HOXBe0QOKm2rvIB2HSZ0HfvY3Ts1qwHl9-lEPE3A2HItvLvHsyfrLcHfK-ceu7bPOVl-El",
  "id": "rs_096ed760b24426be016aac6cc2107087d0beeed50e05e2c504",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.43},\"note\":\"The jaws are straddling the can’s cylindrical body. I am closing gently for a secure grasp while it lies on its side.\"}",
  "call_id": "call_MZF3vAgI55wiI2fur8v5tMpR",
  "id": "fc_096ed760b24426be016aac6cc34e0887d0b5ca85da56ae09f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MZF3vAgI55wiI2fur8v5tMpR",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6548, -0.6239, -0.0219, -0.0578, 0.9992, 0.2317, 1.943, 1.1126, -0.1627, -0.7525, -0.7967, 0.6178]\nstate[eef_state]: left_x=0.2668 left_y=0.0006 left_z=0.1379 left_yaw=0.01 left_pitch=-0.2581 left_roll=-0.0096 left_gripper=0.9992 right_x=0.3941 right_y=0.2207 right_z=0.0509 right_yaw=1.2645 right_pitch=-0.0755 right_roll=0.0091 right_gripper=0.6178\nstate[joint_eff]: [-0.0342, -1.4154, 6.9949, 1.6679, -0.0415, 0.0024, -0.0122, -0.2803, -10.2632, 6.9128, 0.8864, -0.0904, -0.0806, 0.2759]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ee445ddbdf78f372af8fff9bd86833ffd8c72fed127f5f598b3121ae81caebe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c83d5272f9e5ccd33eb7cad326c6526cd5a615d9e4ee763b1f4bfb8a4d05fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94bf44a496ed1a168a693549eb65c2858a786b831d84ae8458db349025754712",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8646, 0.6548, -0.6147, -0.0219, -0.0578, 0.9992, 0.2291, 1.9366, 1.1225, -0.189, -0.7258, -0.7975, 0.9954]\nstate[eef_state]: left_x=0.2684 left_y=0.0006 left_z=0.1395 left_yaw=0.0099 left_pitch=-0.2486 left_roll=-0.0099 left_gripper=0.9992 right_x=0.3962 right_y=0.2164 right_z=0.0512 right_yaw=1.2475 right_pitch=-0.0999 right_roll=0.0054 right_gripper=0.9954\nstate[joint_eff]: [0.0205, -1.5658, 6.8171, 1.5409, -0.0611, -0.0024, -0.0122, 0.1436, -8.1026, 6.065, 1.2576, -0.3883, 0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_z\":0.12},\"note\":\"The gripper is holding a roughly 5.9 cm body width. I am lifting the can slightly to verify this new grasp.\"}",
  "call_id": "call_Ll4Xfxd3Fbj8UxsZR9UaLu5m",
  "id": "fc_096ed760b24426be016aac6cc83e1887d0863d7bc906fe95de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ll4Xfxd3Fbj8UxsZR9UaLu5m",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6548, -0.6338, -0.0223, -0.0582, 0.9992, 0.2356, 1.8324, 1.1797, -0.3687, -0.7479, -0.7971, 0.6163]\nstate[eef_state]: left_x=0.265 left_y=0.0007 left_z=0.1363 left_yaw=0.0107 left_pitch=-0.268 left_roll=-0.0092 left_gripper=0.9992 right_x=0.383 right_y=0.2192 right_z=0.0958 right_yaw=1.268 right_pitch=-0.0933 right_roll=0.0312 right_gripper=0.6163\nstate[joint_eff]: [-0.0752, -1.1419, 6.7624, 1.58, -0.0806, -0.0269, -0.0122, 0.294, -11.0427, 8.4855, 1.1746, -0.4029, 0.022, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc09bdfbc2afb0eed8bcd7fc0f85313cd8b6838596f8cf7d86b0f3176d37272b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e95f63b8d2473109f6e366df7b1269b8a4e2f8eaa432dd5e68cdca54cdb1e525",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67cf70f71cbd04d2f1d45eab1f4a7fe4f3a5a6f46cb395d4eec140146b393980",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6548, -0.6239, -0.0219, -0.0578, 0.9992, 0.2317, 1.943, 1.1126, -0.1627, -0.7525, -0.7967, 0.6178]\nstate[eef_state]: left_x=0.2668 left_y=0.0006 left_z=0.1379 left_yaw=0.01 left_pitch=-0.2581 left_roll=-0.0096 left_gripper=0.9992 right_x=0.3941 right_y=0.2207 right_z=0.0509 right_yaw=1.2645 right_pitch=-0.0755 right_roll=0.0091 right_gripper=0.6178\nstate[joint_eff]: [-0.0342, -1.4154, 6.9949, 1.6679, -0.0415, 0.0024, -0.0122, -0.2803, -10.2632, 6.9128, 0.8864, -0.0904, -0.0806, 0.2759]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGzSztn9_mLeyEt5nmXUtSQuk-dU3kGW-zM8u16Apnuel2MbUH7Hdq8lHZktkpqqRx39pcnsA2ZtTEEiZU9tFD5Oo3fHueCzR986UBoMWh9omLL5Aewgl9plw8TLFqk47oVMYu9kJOHEK6q2Df9yyYx5umRLU6Xzcn4vqR5QajqCv2iUfoWNoDobdJETJtbdTXBu8AVqRQf0DkfJGtoDEMTfHDHhR8F3wdlQypsM5ymYrXx_tbtLc28HBkbdgdOZHjhX-nGSm5-54IooUYiOgkQluzA-OUKYWVlbjCQ56em6oxe125U2ZtUALC3-yGO5y-J85kzoaRP8hwtAjLYHWuR7OFDlPtwy8BNSlA5aFA7rTlxVSVUKoPB8KU6Z8kybqskaoSXWVkuoucq9OD-cN1MxS4XlcL2Veb-uUR0CNNwBbYMA2fj3NvheQaNl__nqWd8ubrpyGn13auVwsEpS9kH9Fuaz-C2cFz7VWb0mr9VlO8VpO6RzOh6LUFQ3Ll7QsIfmyCI5SCTAOe77saY5Loi345HlRKVPrM5KDhEKbZdNp2rYskuvDxZYSLn2SGB_rbdvcarCjuAcHCnM1hk3-R9Dgn8wPMyi-Qz76F5mnHlNvnf2X7Qi7sxsRiUMMM9KNc-I0jQOlh2w9aOiSqIjTaZSJ_xswLnzZCTNuNRc4458WvkbaNLn5kIXhR2o3lwxKoQp6twwl7dg3axRuzVwsQW9ZcnTi3H8_XOjRQff-aJv4oCNT7QsEPb_STajDayzhl1DPrKUiYVWkJL8WMGFIFHYRfIW5pbOZH3htcEHpBYBtEzDjfvCb7KVRcU9I2aBtiWyC8da1L4dL5bDrTTSLOwLBu5ZF5wREALp6thMC3DlPVi22ymcdD3oFL99TUEcJo8act83cDotqaM60wyWXisEAghdoVOopujeN8WAIlR8wRUzMt6wncw-hQuUBOvFBnbuTJMCxzUzfYuIYMPR4_IjaWlX7t4YRCcrN6RmDsIQUDDbnTGn9bk5O8Bxi5JTsOmz_PcQKjfkLrtuzWTaUTabpsqyWMRRiERG17L2WxX6Gj1PXgj--KZiedsq7kdL_vgorvlzMmO_NUSzmJd8G6L_TKJoXQQzUxK1Y-1Okb-TkYAfCK8bXiLEWypX0Tp4vCjjqVZXRnFfP_eU1QTZWjATll86h0DR7iDzl5Gy-0J_HKnPAE-5-GS0_fUZwsdVoeWzcBFjPYbnumAu9l2yKE87mGrgoaGhFjzJK8GeVSHnl_Ki8DSLW1OEIaRs4MK7KQ86HpsJBv65KmDWgJrDs8Oz0UzXZK4YYT1SoXgxyCMay_gBctaPfnbaiXAUhmtE8GiMcnex11qgJ9g0j88DNUvGLVO6a6jtBSqpL2HIpSmfxjrUbe1o6OkNco5Ts2SrHBFYW_wbYodSw8c_c9tYGxWWzSlqlx_mJuCMI5UL9Qot-WeN2WQHrEVFXC3_nyjy3UL8ZSVSMVslNq3RP2MMDEsFGdORhIoPJr8vgrf3TAmOWl8=",
  "id": "rs_096ed760b24426be016aac6ccdc80087d0af7dbae40d4c00e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.035,\"right_gripper\":1},\"note\":\"The can did not clearly rise with the gripper, so the first sideways grip may have slipped. I am reopening and lowering farther around the body for a firmer pickup.\"}",
  "call_id": "call_MaUJEQX5dIIVK2SF9EHboM75",
  "id": "fc_096ed760b24426be016aac6ccfe4c487d08751a47abf316641",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MaUJEQX5dIIVK2SF9EHboM75",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6548, -0.6376, -0.0219, -0.0578, 0.9992, 0.2359, 1.9362, 1.0718, -0.2199, -0.7506, -0.7982, 0.9954]\nstate[eef_state]: left_x=0.2643 left_y=0.0007 left_z=0.1357 left_yaw=0.0102 left_pitch=-0.2718 left_roll=-0.0091 left_gripper=0.9992 right_x=0.3717 right_y=0.217 right_z=0.0351 right_yaw=1.2763 right_pitch=-0.1234 right_roll=0.086 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.4838, 6.7761, 1.5116, -0.0464, -0.0317, -0.0171, -0.0889, -8.8547, 5.641, 1.6484, 0.0952, -0.0952, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9e777b6b7ee5b784f694e9cb3064a283a7b4438fc220017c22d69bfe0c74146",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bab9a8e8d83d9eb1932a0c89ca72242cc5dbc5b02500fc56efb67f12393a627",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e368bcfc3d7c78785b3818034c843dd90168540af93fd156036ba5f1a4e7eed",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6548, -0.6338, -0.0223, -0.0582, 0.9992, 0.2356, 1.8324, 1.1797, -0.3687, -0.7479, -0.7971, 0.6163]\nstate[eef_state]: left_x=0.265 left_y=0.0007 left_z=0.1363 left_yaw=0.0107 left_pitch=-0.268 left_roll=-0.0092 left_gripper=0.9992 right_x=0.383 right_y=0.2192 right_z=0.0958 right_yaw=1.268 right_pitch=-0.0933 right_roll=0.0312 right_gripper=0.6163\nstate[joint_eff]: [-0.0752, -1.1419, 6.7624, 1.58, -0.0806, -0.0269, -0.0122, 0.294, -11.0427, 8.4855, 1.1746, -0.4029, 0.022, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGzW6c_BLNawkgSpy5412rwbAWtTD-wHkvS6Q5vPnDsT1KfbT1cNyzQvrL7FgdfVcKA0lMACAGbXxnapiAqBUEX-YM71x2f4qH0AvwRCBE8KvtQR6juL5RiDY8vO9RKQMLibaWKdtQDF_Bgdysdq7YE3eT2javpvuhZU8Y2tmoHflAr7cc2G4y5bwXwHgCR8yqpBmoaqmcYc6J5tEx0iUsO_PlLRXTpyTPX_aP1pPZrrEWohbemqgcaQ1Kja2AEwKqC8O10vOKIkxLuGL5bZH0XzxtIdmyI0uoY27hPmfFv3ZcReEceyOnTaXf1oS9zPw6MZm2KJdsAkeRwoSaI7FTCJdZYOQf_gdQjqsqmx0Q7kZPYEyCbi61ssC32arT9xoOTuJ1iDa8ln8_SfdQnPfC9_Ngp7Yn_37zpvbJVo8_jLMqCoGcsfGPa1njcVFtBcoeSNzOCrsFFGYj9J9hKmhalyDPCKz5k43ZRXkA25xOtczTAbJRZVD1vUPuEtn2F-NSnsThdBAqlf-xmNbZSXRtWpaK1KjEERe06li12yKkr-p87LLhnKn2C9plO3z_iOjaGpZu-f8-SC_Wf1bivZI6j1TqLyiwM9Fs-qD6qJBl0pI6AGgZuH-KzG8U-y70BMhrUUyeQ4YLb_BbAU5duGFke_nBw7v-N0nTY-Z4UA-7_U1lbkdLHxb4dAiAkHeIviSbBAQnpYbTssb0IJqfnrWOmseRdF2iWYLjvNjzqFtAmLzATTV3VII6XP3pUTuJQHG1KUGbl2gmA-gSvmAGdoyIXaNXc55SjMHFySZBX-53pkr7dLEHTdMGm_stUd26TEOhRRk4qe_vFUbL8e8h9tCi65imMIxSyFosQXhgRgMAkqNzjJz6gGRNHCRxgLPeM1-ONeiTWnenIZ-A4Tk0_1gosCMAVZFtXyqKK84zRsQU8wutsRLzKvJgLi0mGJGMby5eOhzwJv-_an3F0a727CnuURDuG7wZBUjjkuR6rayVppk5s0WLpjLGwKPMEY77mOI5RsISMruBca7l8d0BoippFcPhcC7BkPnA_UsbLiOmKDMGfBeqmdKn-WHH2TdKRb3DN85elJJwyvqetWPv255GqwAp9eRg1WgyrZu2zqkT8Iob4nwGHmF1Me2IunMZuTA2NC2tPfyL3IPSXwP9UQLffKsAgokwy4c9Dd3xe_LjAP9TsMRY8s8Lx9N7KrR-2cZcLuhzK50X1z0wgPhXtk1AGCGorqbbgnvgyPErGxUj1V60mLKAmbtFMYYc4yQH2A9Gob",
  "id": "rs_096ed760b24426be016aac6cd439b487d0a4c7726ee837f9c9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws now reach down the sides of the can rather than just its upper surface. I am closing fully to establish a firm body grip.\"}",
  "call_id": "call_ht82ST6daPMxilnt6bLe0pkf",
  "id": "fc_096ed760b24426be016aac6cd56ce487d0a6f71174e8b549d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ht82ST6daPMxilnt6bLe0pkf",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6548, -0.6376, -0.0219, -0.0582, 0.9992, 0.2344, 1.9339, 1.0687, -0.1917, -0.7715, -0.7979, 0.6305]\nstate[eef_state]: left_x=0.2643 left_y=0.0007 left_z=0.1357 left_yaw=0.0104 left_pitch=-0.2718 left_roll=-0.0093 left_gripper=0.9992 right_x=0.3742 right_y=0.2197 right_z=0.04 right_yaw=1.2831 right_pitch=-0.0937 right_roll=0.0717 right_gripper=0.6305\nstate[joint_eff]: [-0.0615, -1.4974, 6.7761, 1.4286, -0.0317, -0.0464, -0.0122, 0.0479, -9.3333, 5.7231, 0.8181, -0.1832, -0.0513, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eacb4a6f3d2eb8d2d13a49adfc52d8af8ed5f524393256186e0dfdfb6c1c362f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3381c3f8bf3169112b3fc2d244db9c42776cea69c69ec107f4046a0b663c94dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e30d2b739aa46eb6cc21f485ba0b58b952de87d1a94d955e2f6a4a0c3279bd7c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6548, -0.6376, -0.0219, -0.0578, 0.9992, 0.2359, 1.9362, 1.0718, -0.2199, -0.7506, -0.7982, 0.9954]\nstate[eef_state]: left_x=0.2643 left_y=0.0007 left_z=0.1357 left_yaw=0.0102 left_pitch=-0.2718 left_roll=-0.0091 left_gripper=0.9992 right_x=0.3717 right_y=0.217 right_z=0.0351 right_yaw=1.2763 right_pitch=-0.1234 right_roll=0.086 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.4838, 6.7761, 1.5116, -0.0464, -0.0317, -0.0171, -0.0889, -8.8547, 5.641, 1.6484, 0.0952, -0.0952, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_z\":0.14},\"note\":\"The gripper has closed firmly around the can’s body. I am lifting it clear of the table for transfer toward the left side.\"}",
  "call_id": "call_lmbCb63oIcZUzyOGPmOVSR8a",
  "id": "fc_096ed760b24426be016aac6cd9406087d0938aee9f9c3b2843",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lmbCb63oIcZUzyOGPmOVSR8a",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6548, -0.638, -0.0223, -0.0582, 0.9992, 0.2363, 1.7775, 1.2137, -0.5217, -0.7525, -0.7971, 0.6305]\nstate[eef_state]: left_x=0.2642 left_y=0.0007 left_z=0.1356 left_yaw=0.0107 left_pitch=-0.2722 left_roll=-0.009 left_gripper=0.9992 right_x=0.3657 right_y=0.2159 right_z=0.1142 right_yaw=1.2772 right_pitch=-0.1225 right_roll=0.0887 right_gripper=0.6305\nstate[joint_eff]: [-0.0889, -1.4838, 6.7761, 1.453, -0.0708, -0.0464, -0.0122, 0.2256, -10.9333, 8.7043, 1.1404, -0.5739, 0.0317, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff6d6b5b5de9ae11863dfa9c04aa70f260bc313106cc32f2360dd9781569b172",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6478fcbf74cb9abbc58d4a37c195b82dfbbce3081b34fe087dcdea536181f6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14df7143c1013088a10d0186daf70d27680dc8b81cb6011f39fef6f5d14d68ab",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6548, -0.6376, -0.0219, -0.0582, 0.9992, 0.2344, 1.9339, 1.0687, -0.1917, -0.7715, -0.7979, 0.6305]\nstate[eef_state]: left_x=0.2643 left_y=0.0007 left_z=0.1357 left_yaw=0.0104 left_pitch=-0.2718 left_roll=-0.0093 left_gripper=0.9992 right_x=0.3742 right_y=0.2197 right_z=0.04 right_yaw=1.2831 right_pitch=-0.0937 right_roll=0.0717 right_gripper=0.6305\nstate[joint_eff]: [-0.0615, -1.4974, 6.7761, 1.4286, -0.0317, -0.0464, -0.0122, 0.0479, -9.3333, 5.7231, 0.8181, -0.1832, -0.0513, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGziw2PzsG4wwRuBEgDyMIxq_oEMfQmEcM9m8TaYc6-SW5Gi3oBDIIbgCRG6OXCOpH33o9w5K0hfB-GQ2dvtgWCuCXYL22WoG9v1DYgvBxK0ENfV6JnIv2Y7CXShj3XHOJ8eyVr90VTtmuBtGzw_BM3PhH4aHTbIFRMCYFugdVroK7bqgyDnsrCYdWn-qopFzTHvJVZ29LUVT-1XnmGO4JPekLWLivWV6Wgid7T2ayy8vP3AMNPE40uTCXzdv-PHGJHnWr4miSN-oXFKfJcWZzjlaGJSW0bZSKQeX8Vf_Npow3iMQmsf9uypZXKps4lM6VhE5QbLS3O17UWxL5Hie0lIgJnv61sJY4tqwd_qsMMX8f9YEWFTAzzG290_iyKaC7rxtktGUKTsNICOTnCTWqM11p4dcN6ZLoL0XbBeUCN0qowwmXcyQ6S3W5FQo6qjQqA6YJZIklaLzdSEGox-pq2BzIjm4G4xD3GFR7K92eG4FebqtQCxlrz6JPC4vwZZx3nPVrR4zIr3Fzd7Ij5cAP_HkLGZR1-W3cBEqzGgMapwBkoALyBwajsjX4c9sZgPXp6k9-tvmd4h_PbRNNr7APXpH7OoJjB_05Rc0wHYljvTQqAQtI5oqjUMF7vjvxPH-CXVVrQw3_9hQ291ehnYEel3W7Tg6oALDUME6QOoxXQD9bcUWIjI8aE8Mkv1qH0ko_DBAqXe5a97AuzOFxbZ5M3EwTdiZQX-e3GZc_dnZfUepPkAfuOpB7g412s9-b6UK3Fo5KHH2PL50mY_8Jer9qG9QTg2ItzmcG8VgZsNOuD9oQwFz-hpXAXmHsDCcuBs1tEpSIw9uQ-Us8x9u981HCzeGyQ12nTo0n2v1Nxt3jHV2jlGp_ceunHlBp_NXDDNB7FpMx6sPDaaOegGFMP1sW_JpqHtvR7r8BzAwCFAMa_FdqfrG1WrHckxs-LjvKtcxMoywvFBeeFN5MGWnpRyjCgWTjat8ppOfPacUiG8pVSp5v5JFLQBLakmARivHj9mSM3VvzAgLNL5tIV2g-49TSVglPWXwIv_frNVJOron1B60KrM2ZmDmGFCnFCVM9iISVw-muXs5BUTkEN7T2peF8ydBxxkX3cxGyngowZaeijEJiQc3amMHJfbPsYlFMpj-FzemUnZ0UklKB0fxzvd0boWOJOkSw0n4QIsdQOvdJ57JkbkXrx1qFs9BdTr7XD5kurJ6O9UHZxTA3boQTw-Le7A5zd52-uoFlqlTvHNYclfTC65Z9NtEOJgvbQQbPTM5De15EaKxfypPNG3IyJd0e_RnrANcGuvUtXWJ3N5BhjYCzZrAc9pPaM1EEj_oSBSHJTeOGbLtmiOTplz-xRRSRQKvvkj_cZ0KivJ6LZIybb1OEOFGKSzbt27rIZmqs5IUaWuvpzWED8lZXjhbs1xrKL9SzDXKB9M4t4gm_voWtxLXi7podfbXrajSjsCkXou21iNnX9jJyEQYAlJZ4W7ocswlmlTC9lDBcEphrdLpFbYB7Mow4hwyiRhNZAuHGUa89rDE-ZNFumbTeUGt0tmotkLjPNUsIkiAFR9MyQd2Ew00hXdEW9efmOSZ072cGUTAfN2U2ud8iopVBtFbhoBrjkkWwETN7NhfgkNjs633qSMqMsy1vQWlY9tDBehwlyaIYxWrWamlH1-U775NLdyppgylqGy-yIH6Z36KeIGMeSIQJ_eWorTFOqEACWVdXH6J_soQSHGmKv9Fa2fOY93YkU4nXj69DFlKJxoj-ULH01K4OK1YiW6WYf8suQyXCnJ8l0-sttc3ViIJWbtFpu8ydhE9w==",
  "id": "rs_096ed760b24426be016aac6cdcbbe887d097343f5cb3b37cda",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.38,\"right_z\":0.19},\"note\":\"The can is now visibly off the table. Its sideways orientation lets its body extend over the burner while the right gripper stays within reach, so I am carrying it directly there.\"}",
  "call_id": "call_Fz5BovIVSzJy6ExlKfI00BSq",
  "id": "fc_096ed760b24426be016aac6ce0f36887d0a135886b5c5c9469",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Fz5BovIVSzJy6ExlKfI00BSq",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8688, 0.6548, -0.6533, -0.0219, -0.0582, 0.9992, 0.5549, 2.1433, 1.969, -0.7361, -0.5705, -0.4946, 0.6363]\nstate[eef_state]: left_x=0.2614 left_y=0.0007 left_z=0.1322 left_yaw=0.0106 left_pitch=-0.2913 left_roll=-0.0086 left_gripper=0.9992 right_x=0.4144 right_y=0.3733 right_z=0.1779 right_yaw=1.2968 right_pitch=-0.1474 right_roll=0.0843 right_gripper=0.6363\nstate[joint_eff]: [-0.0068, -1.7709, 6.7761, 1.536, -0.0513, -0.0464, -0.0171, 0.0889, -11.9179, 8.6359, 1.2821, -0.3492, 0.2613, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04fc39746df8c3639242b701f3d5171cffcf9f4c1eee862876d390d4cac75007",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70caf190e6ddd6b4e1e18dfddab1cc3c855a9b06ac06b5d022b81864fa6c857",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cf8b2d92a5c965fd5fdb30dde6b404ee19acfeef2f5c2d5016d629723e63dd7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6548, -0.638, -0.0223, -0.0582, 0.9992, 0.2363, 1.7775, 1.2137, -0.5217, -0.7525, -0.7971, 0.6305]\nstate[eef_state]: left_x=0.2642 left_y=0.0007 left_z=0.1356 left_yaw=0.0107 left_pitch=-0.2722 left_roll=-0.009 left_gripper=0.9992 right_x=0.3657 right_y=0.2159 right_z=0.1142 right_yaw=1.2772 right_pitch=-0.1225 right_roll=0.0887 right_gripper=0.6305\nstate[joint_eff]: [-0.0889, -1.4838, 6.7761, 1.453, -0.0708, -0.0464, -0.0122, 0.2256, -10.9333, 8.7043, 1.1404, -0.5739, 0.0317, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGzsKudyPGYVM81hax7MUxdbpupFLs5KuzGC_meqr_NfI-9Pbad1f5rSJ9Pyf1W-YjD0_gQOkrhhzreruFdSrWZ1v7_jdJnOLBqkWDLdtpPjpPSXC0VfgG2Br5TeMGLkLYJWpIqnuY2nvejIG_RDKAc7sWYkmhZNA7mutlASaezVnOfBCe5vBAoFmOJjvqY2hFSXhxc6j8nTwRYOwrduaeDYXNzOO4S0NrO3mh0fvDdZMFCUsbnTa3DvQ8AUpN6QEMO9Mx-YD4zoS-Do53232KxspYHp9zimzB5LHimW48UMwGtUdm4FThwmAb0uFn2tIXSj7ZP3-tWwRx4FlTAo_d5TgcWJ6D10XZFTAbC3Yd2qlNOfbLPodr4zduh_j5jr-YvLrupsrhjRxfuCQB8J6wiYqKn0gqlnqRXfZnvLznqcA5dGOvxbpQ4LQyBLdb8EL63rW2NEv4Vk4rs8N37EJIvAAtxS6vMXzoVG3xgCbGxYYa_HfX8oNe_zZtsN1P7LrRmN4EyW66Gc4JRuSsdgsiPEJd4tUXJDNWvizLU0IhS9sLj1IeyBRLRU1U_XUA63BD801K1iorVQyrKTvDGlF1hLQjE01hlEre_0-XF0dBRdYdgJpX3vdL58snlRUaMDzYbs1PNGZ_1C5MFWCGFOqujPOV_lJg8y7Ktjr7E4bJ5rpMUjVN3NrxcfPnH-DbCTbyAkMtM0wvUXGAmH71uXJaSsegtv6DoVjudnglfUnP_V2uC47ov586UL6IPUlSvx6ldRMDfwNevW2mEKa5l9VTeWieOK-j0SRJK8AS9xic6hXaGz_CUB-cjLIhKYjahc-RkUW0eADto9QpTakaxeTSBwEGZe7IVc5BpTZ8JnPXSjxyEKwp4IqRdG3lJ-gczQTDRrQyIhL3puLRgsb_O56V7rJQj6-blZ1FPbt4fJJpguGWxUOnL6gZIyLz-Pv62JE0BKK7FGVS1zFrEc8x0d-V-d40TZIlMAPtHk0RuGVW1f_IbOHMuH9CAXnCeBpu5DDn5Km3LxhSg6Gwf5crbHo6iyEP1Yr9j8M4lpjsbNfPbRHluLCKK2ZPLX5m76uLUKH1oFSFnyn5SROK4OJ7G00W6iSys8TuMySakibx50crb302yiS1jwvjeJ_SMLqnLxL6ruwsEG47-mIFGPnxKiVi5LmQiOw2A3_1QpDZPQIyEox_ZdTxQuGIpPmFFyCH57Jg2D7mHUstDYZZreK2JUrTI3_uMSdeBBZx-Bsw4iXoalUXHFj9yjId34DLcdsrAvcq9yclCIpcQ4I7wQF-lUGDupxguivCirghDBFyW1GMJ7sEWDppH57i0jkjsi3mMVMVUdtlSTXCLRkmATQ3Yf1F1A2mqQ82O6NTdo48JZBUcaiDL4BKLu1ymIVs0RCAaNrNCo1JnKRSS1Zxi6CoNaPic_SN9bPq4lepd27TfnLALGyzeZ0BtBhGWjl27JOzf3Cx5uhqcR5QnV21rTtymoV_s6qPsaWCBXECMY2hZzmG3l_u2GiDVfta5kMCJnPVNkae4cZy1fBXf_gzP3OOC3ZgSzfk8G2atHedWvw7L-MDdI5SJu6xR59c0MCU7gPF_9q-jv_0XRcLlqWGCLYedmJVoq-bcNYqyxuz3c5hVv_8BykEcdp8Y7x9ilghB0I4Tocb3vBd8E0bn4UmitpKb6mWG4t7RkGerRL5qqCZq5scKODads1LB2itisDEauv1IznTkrg11SSom3EeEyfnxznZQfwj0GpmoSEfnryRmDwGgLz6AG7v3utXAPHsjdJzZpecPF3GMgw2BCHDxjNP2s9AZH0y2X2gpXAZbo4aF7_8UGWtwv18U7MshiyUgh_1gRK3UKrqxQQDGF_NxM_HXTPQOwIcnA8H5GyW5YmdGOjtTERfE=",
  "id": "rs_096ed760b24426be016aac6ce62e0087d0a094fa8a41254646",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.4,\"right_z\":0.095},\"note\":\"The can is over the burner’s right side, with its capped end above the coil. I am lowering carefully toward the burner surface.\"}",
  "call_id": "call_BQs5oh67MP252jJVPgZEBJaI",
  "id": "fc_096ed760b24426be016aac6ceafa4887d0a46847209b332d3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BQs5oh67MP252jJVPgZEBJaI",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8696, 0.6548, -0.664, -0.0223, -0.0578, 0.9992, 0.5865, 2.2143, 1.8221, -0.5304, -0.5472, -0.4698, 0.6386]\nstate[eef_state]: left_x=0.2594 left_y=0.0009 left_z=0.1303 left_yaw=0.0108 left_pitch=-0.3027 left_roll=-0.0076 left_gripper=0.9992 right_x=0.4145 right_y=0.3901 right_z=0.109 right_yaw=1.2996 right_pitch=-0.1701 right_roll=0.0971 right_gripper=0.6386\nstate[joint_eff]: [-0.294, -1.5521, 6.7214, 1.4969, -0.0464, -0.0317, -0.0171, 0.7453, -9.7299, 5.559, 1.4676, -0.2662, 0.1392, 0.5348]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d319854d728fc2d7d863a77102a332e925be06c1f96779be93e4184bb58735",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c4a61806f7b424e336294742722c280e571979659d9bd2b2a63c087bff6c507",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dad0010776e10a8c28d5ef3e33eb1f7af6a3bd40f59727b598b3549b72b9c39",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8688, 0.6548, -0.6533, -0.0219, -0.0582, 0.9992, 0.5549, 2.1433, 1.969, -0.7361, -0.5705, -0.4946, 0.6363]\nstate[eef_state]: left_x=0.2614 left_y=0.0007 left_z=0.1322 left_yaw=0.0106 left_pitch=-0.2913 left_roll=-0.0086 left_gripper=0.9992 right_x=0.4144 right_y=0.3733 right_z=0.1779 right_yaw=1.2968 right_pitch=-0.1474 right_roll=0.0843 right_gripper=0.6363\nstate[joint_eff]: [-0.0068, -1.7709, 6.7761, 1.536, -0.0513, -0.0464, -0.0171, 0.0889, -11.9179, 8.6359, 1.2821, -0.3492, 0.2613, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGz63VhY3t9mepYufPwY1qeC8q3wCNEBDwsWrWz2M1tm-LkocFxNpeaW6ABpNYytGwhy-NCYdaLWTcum59JUSdF_VQcGysaFjV5udgh1Ql7uZH1ouPBGa5-Z6r6h-8lMfrzKpxJQYutD42vtQKOnxhD-Wcwg7GXrTZARDt1mehOuVNW7iKNqL2cqp1mOMpAu2ITgza_Ls3SdoN1ysm7oXMNnGLspHtgnkcjAx4HoBS0D6TdalxtPXf0ubeYh9Rv6aklwk5Iy9SwIhCCcmPaakSn80VRDrT0vcqbTOuxV18U1NuhAg11t9oM03VpKlXbdQT_z0o96-RwUA93PtJpXy6HLNJFiwUNVAqB6PgzJdUJYmF7N1QMpFmF7X3vhk9NvWT6M0GyYjkSBwr6E2bDcPYlIAZ6WPH6EuZ2Y1WtJWA6KllRUkvINrVQWoshElEU3OYjGmssYKeql8-LSMVXs4N21T27ElQe_uQp1kNhraERZVW6GYd4G3_hJu2HymzKyclVtrZKzb7gl74sqItbBqh7TWkJf3B_B4xtyEl-Q7KSkhjKmTUjGNsWBRs_WCXK9NkzibpxuJufLPDuHoXS_XAZDOORUVviFFbAPPmI2zjhyZBDbSEjxHruO-rYaCF7NWp1UdZo-jwdnj_zQOnNuupdm7PUBuHFZQc1r6HUtI63zTlXHB4sQvGIgmrndsd-dpkZHS9EviMlQG6CcrTcAGSGzJTVp5_FEO4H5JPzuaEemxT0fbZxCysKhy07Gngjq_OqyUYUF2yvpuOo78JP_fbhGBUH8bP_TEgeXtDDfwUcinkpXcCA_pWkQ63FBAH0HfkURIP_qQi8qqd0ajrpy4ORsLlBzUFjpd3wZpp0FihU7xlqrHn2k9yLlp3XpRUZKt2EjshT24odLMVR1UKjTo2YBKN31d9fRuGbiUhka3uxOenSZTpUUvDYiRzSe9nRF8xdczDKDrth9YRuvVU4aAD3iYsyyOQMI_04FfBDJpPvWtz8thlUXZlZ0LkP2h1ZDu4ByAXdkgWXArDKonQSDcM5iOY8wO2IDyVKXl_PKZP2iuYeNaBTXTXf7Zbczz7e6F-p2Mkr4RV_EW7_-sAXcou-jLiw2S7MtoZ1hlljNuB5v02UnIp7deToSw5CkKXIQNLR1UuCnXZgmkFdTunag-tkROO8Crbhn-hdF4-8VQA1TzjWlUERmUvbx_ME_rn7gBhwV8ezhhPmgcGGcpIi7_8DKSZjAv5d1T1bnZjw-q9fbK9ShJJxh4VNGosc3eBEk6PVjMe2eq-hV6oq3p-nFv8Z8zmhgWYufystKTpXC_KMU2v_84TpfImgT3JkJbybsn3G45d_Hd0CHBrBuDYb2hjhA-JCFwwMTloOKz9t_fl3I5-l_g8k9zwE0CFV6Zcq0iKckdAwx6m3MhA4Em_zE-R9XR3X8A180SC7gawrEeKoIcXqsfBLtJ2qpKFsHR0ee58B5LwXg7wt2l1laR7XnsPMdKvbC-mEZsdkGy-qZ9031SC7KTknzGd6j-tFqWj6sI6ilSXSBPDMyiHyF3rOWq6SDYjdleBJlc2EbgY6jWSKA4oUAAHUrEtYWEG0BRjM8HXirD9MZrUopXvQq3XZnuLZM6HDcYGHSsRDzR8nV0dkXTFz3C1mrw38g3PzbfPknNG57Y2WmUvneuoK7zDAyqjrYDC_jUhl52fZXroM1tTNrFyAWjcBVrsEjmnoyxVT9L83mZqc71CXpXNMTjls7RK_D1mepyA50Y3daU2skzez-nvqX8tfNtFv9G7-35yKyuxE1_NB6jQB1DjZ-WjUED7xR4liUkYhCP2GoBojwVZAUHS2YrCOBqzBr9X4ivLonzHOKN7Dqeu8gROnJoDwd6MPf6O7w-z1HmR1XU4nXlsVYYeFWowncXGVlEQKQTvpvJEuSNd5Cbc7r0gsY-b4VuyIx4MME9n1AJMbmFCVgABj_mTxPd5hxfMRUFBhLtq2RKQaXxpsGo9I74SQypXu77owEagcJeX0IYnpqwDjpr6Pp7p_yiFuO38AsGKLqmBiJyk22IasQuYwq4mbWJpd_iq9DXoQkRq-svnHWDUi2b3E2bSv63mqQF2YqmdRgE7JYuMHQEC_tISCHAI9TKPOo3B2c2G5cZO70z3_W5IX1UYrf-n8IBQs3LGeQzdl-k8U7DUY1l8b-q0Ae6EvBYJCMM3PahD520bCJbWY9qI-41SdI117muzM8uWvc6WbFzUpvooQCA8AcHKudj0Y1nfKzqiHrOT8ELLeNTHLz1ZxsG_7Fm05u4l2aY5f9GhDF3RYmgEwxvyw_NTkCSdoy95_bpr5haN_fLbMkexWzByMqRORA2PQmNfX6xcXY1YQpAI6uAYJK3CkxDf4EbnWDG-yO30rw0ejB8XuuaBbTntv424haitCJEVjviXb9GX7QxrwviJu_Q2ZBLygX_D0mjjISyE3jEY_hRSdUV2u4gpuOamQmoGaR-tDejGZUM1lLUHEelGKehbV-AcnTwiqk_9V0gVIBY-585DNHdUmPbwnvPPF8zV57TfjK8sJfeOQWAxmChuEmmayewBKvZEsXGUASdSpBwZ7u4zf8lFw71qJjCQ_zrP6eeHjVlOrorroGsmsCwkkJ8PbwsAsvCs5KFP8P7rz6H4bmk9oRM0BiT9dZiPlAjj1zSG16FmQHvipOdp_mSTJoUan7gQUV9TsUqUvhEiFRc0d0ku6iy88YwBbgMNYHsHU2wHcvDoBJUQ4Ekaru-49Xv3ppZEyd6cExFNkcQmvM9V8yHXtUP8b9q-8swkz9ejU=",
  "id": "rs_096ed760b24426be016aac6cef209487d0a6c999509237070e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The can has contacted the burner edge, stopping the descent. I am releasing it here so the left arm can shift the body fully onto the coil.\"}",
  "call_id": "call_JxBHMvD4nz6gyi8INo8HPYkP",
  "id": "fc_096ed760b24426be016aac6cf8e49487d080285b76b5f44e52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JxBHMvD4nz6gyi8INo8HPYkP",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8707, 0.6544, -0.6785, -0.0223, -0.0616, 0.9992, 0.588, 2.22, 1.8172, -0.5247, -0.5411, -0.4706, 0.9948]\nstate[eef_state]: left_x=0.2566 left_y=0.0009 left_z=0.1276 left_yaw=0.0132 left_pitch=-0.3187 left_roll=-0.0095 left_gripper=0.9992 right_x=0.4146 right_y=0.3901 right_z=0.1044 right_yaw=1.2978 right_pitch=-0.177 right_roll=0.0961 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -1.5795, 6.7624, 1.5458, -0.0708, -0.0415, -0.0122, -0.1983, -13.4085, 7.0359, 1.3602, -0.3736, -0.0366, -0.2222]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb9284edaa6668dca69779efce2aae9162fbcc58b8fb76430508ece09276cd40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1faf541d5f98c5eaeda82b590a4bb76d4d251ce79d183009988a9bd919d419e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c491d285a8f3d4092c385e0f261c327c207cb164a630c84eebb77e612b899a33",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8696, 0.6548, -0.664, -0.0223, -0.0578, 0.9992, 0.5865, 2.2143, 1.8221, -0.5304, -0.5472, -0.4698, 0.6386]\nstate[eef_state]: left_x=0.2594 left_y=0.0009 left_z=0.1303 left_yaw=0.0108 left_pitch=-0.3027 left_roll=-0.0076 left_gripper=0.9992 right_x=0.4145 right_y=0.3901 right_z=0.109 right_yaw=1.2996 right_pitch=-0.1701 right_roll=0.0971 right_gripper=0.6386\nstate[joint_eff]: [-0.294, -1.5521, 6.7214, 1.4969, -0.0464, -0.0317, -0.0171, 0.7453, -9.7299, 5.559, 1.4676, -0.2662, 0.1392, 0.5348]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.1,\"right_z\":0.22},\"note\":\"The can is resting partly against the burner. I am lifting and parking the right arm to clear access for the left gripper.\"}",
  "call_id": "call_2HZTSGxt2PlYUg92g2hP5MYl",
  "id": "fc_096ed760b24426be016aac6cfc39ac87d0a022b409318a5f18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2HZTSGxt2PlYUg92g2hP5MYl",
  "output": "executing move_to over 25 steps (2.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8715, 0.6544, -0.6903, -0.0223, -0.062, 0.9992, -0.0875, 1.6722, 1.5127, -1.2968, -0.7803, -1.2331, 0.9953]\nstate[eef_state]: left_x=0.2543 left_y=0.001 left_z=0.1256 left_yaw=0.0136 left_pitch=-0.3313 left_roll=-0.0092 left_gripper=0.9992 right_x=0.3303 right_y=0.0994 right_z=0.2008 right_yaw=1.2667 right_pitch=-0.2078 right_roll=0.1257 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.306, 6.7214, 1.536, -0.0513, -0.0659, -0.0122, -0.1436, -9.6205, 8.0889, 0.4176, -0.7009, -0.0855, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9eebec42c64216f70f13149ab75cd9555a1da7ba0f8e4824091ed2760378112",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c02102c5f2d0d47b84f39c65573b16aa163044991970e53d080225553279e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:556aa0a57bd0a047bc42be62b9013782370d2d8b718c4fe311cdb6ac1db2b393",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8707, 0.6544, -0.6785, -0.0223, -0.0616, 0.9992, 0.588, 2.22, 1.8172, -0.5247, -0.5411, -0.4706, 0.9948]\nstate[eef_state]: left_x=0.2566 left_y=0.0009 left_z=0.1276 left_yaw=0.0132 left_pitch=-0.3187 left_roll=-0.0095 left_gripper=0.9992 right_x=0.4146 right_y=0.3901 right_z=0.1044 right_yaw=1.2978 right_pitch=-0.177 right_roll=0.0961 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -1.5795, 6.7624, 1.5458, -0.0708, -0.0415, -0.0122, -0.1983, -13.4085, 7.0359, 1.3602, -0.3736, -0.0366, -0.2222]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrG0GsVp4ujx8-6tLjNG-MK-WcQciMCHbAf3g-f5zFP-SyvlupXjx86HCZeCAYWh8M1oMiAepicAZxVm31jJvSjbvHOfSh-PDgMz4rEG-UbEXEybKSb-16aBS8KIcAPIIPSvV090p-kDlHO6_ZlL2rR0uLlcdbF-xPdm6FexFb09sD0HzYYoatAdc0IAiZDvklsbxK6a3CpuyW3PeDdhFqy2qB91kavJlINR6AMtSTm0z9bBMhC9Hm3lGuFSnoOjmJOcUe0sWYsgLP7_P2VpEhJ0dZVfNZDuNa76_N29m4NkC2nyjB-R4-OG4oigodytzdbkTdx_r48b9o4M5_eoaxviprvE5SgVIv5q9AlexkFLAXXhhyWgG_2u_SQgibwi3AgAW3sg_RtXhBaCcpmdzvi7HvLmxc3wH984W56Ymllr2LXKvhRK58zNdNpVoF9DZ-WA7pZB8-7nRIM2ZqPV55tNTHxKPpquX36icAbKieBqFH9aQN1uT0d9cjDD8X-Aqjw7jjJzQyYghTlCmr7YCpvS58mM_b-KnMdzKQxDWQEKolSLLXkMtlHcIGWSbCCRF8AxA6hWVkszt--CpmmDB54fFrK-Xyt8lAb5zCzy9pVIdwUpXKVnWGe9OVqBykKso_m1nkFVe5mAiMu1pgwAzzdkS8FnM3f_P6u3v2mPlpEX67OPkGeW4Kl5gpgDknwmLqKdAkVpGZCU_Ry-TE2NMNajZ_0DFYKw2tH4AqXNnZtTVyxyu9OYZE1hCsRq7PYeyHWgkS_2xmCgHWI9NdOBPqePT-cAlSWm7J3ltJ3ule_W6uI84LMgXrGj0P2oG3dOy8TD_TgKCFQLltnXTWE5Go-_VAr8NF-MhvquYhoAyXHgZilZhnyHM1X88gKIUeu9Z0vVyiGVSPqRTkubw46exe_Lns3srbpRt-Cv_nlZ2T7sYeeZPIl3eEEm3g3VxNpCd95e6WCzqwMcTosVYBti2IGWbksFC8xsZ26vHnqzwHRzGRusmyLlkLErGzbwaMpSQ6nGdaDwDPLAzuCILJKnoN2F9fNnHlHeM_qdj2W9SOy9kgulzFVyifp0Ltd8427f93iktBedXl_Wn1B_Vj88ewnEBqeAdED6dYmf82-Qm0ovWJNmFN9jRE3548rTZtf5xL_0HsxpfPRHzNfarG3Qoe0eiNNS96-_cBahJ_IeGd0LK49wIoWb5ZuZgIZEq_6BSms1M5n63J7hJK3jSpIJ6yNONdIXl_KK3Fwnyn5S0PSuo9VSO-odKls3QZzKqpXnCUI7p7LBaGTDdRc5y_-YXBi-XvDeTYna_vwldaj-8hNrDAj4RjbjNVEjiSf4_CdGBWrCmpS9IlVAlDF3dsh0LprWo_2p7i2OnAXK5j1yX7z-ZsyAJdbDGK99ZhQYe0GyxSoMJojqfil9J1J8cAq7ZhKv8khDaHhkDiDWTvOIpLQACYKwlUehRjSPYpqdOl9BJrtR7IN8pU2fNEOY3XlWyrSBGzw==",
  "id": "rs_096ed760b24426be016aac6d0171b087d0b379ba9d1562dd5d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.35,\"left_z\":0.14,\"left_yaw\":1.3,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The can settled on its side just to the right of the burner, now within the left arm’s reach. I am approaching its middle with the jaws turned across the cylinder.\"}",
  "call_id": "call_kage8S02BgmdyqTTTYWmulIZ",
  "id": "fc_096ed760b24426be016aac6d040cd487d0a42c0fea091756b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kage8S02BgmdyqTTTYWmulIZ",
  "output": "executing move_to over 32 steps (3.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6895, 2.4073, 2.0045, -1.5578, -0.8433, -2.0995, 0.9991, -0.0883, 1.668, 1.5146, -1.3033, -0.7673, -1.248, 0.9954]\nstate[eef_state]: left_x=0.3897 left_y=-0.1457 left_z=0.0749 left_yaw=1.2063 left_pitch=-0.0868 left_roll=-0.0039 left_gripper=0.9991 right_x=0.3291 right_y=0.0976 right_z=0.2009 right_yaw=1.2722 right_pitch=-0.2195 right_roll=0.1126 right_gripper=0.9954\nstate[joint_eff]: [0.294, -11.0154, 7.6786, -0.5495, -0.6422, 0.022, -0.0171, -0.0615, -7.1043, 5.7231, 0.5495, -0.5739, 0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ef21453bfe8fbeac7099aa1d1af3d2c63f76c71dea960f7b3fd7fae79737db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aabae8ed406900ea3b09c29d9f40b068a8448010f90872b248d5c1126813dfff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1135a6a1086118761650564d2ce7b6ea4fcc00227e1fa01a385ef0ac04d1b110",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8715, 0.6544, -0.6903, -0.0223, -0.062, 0.9992, -0.0875, 1.6722, 1.5127, -1.2968, -0.7803, -1.2331, 0.9953]\nstate[eef_state]: left_x=0.2543 left_y=0.001 left_z=0.1256 left_yaw=0.0136 left_pitch=-0.3313 left_roll=-0.0092 left_gripper=0.9992 right_x=0.3303 right_y=0.0994 right_z=0.2008 right_yaw=1.2667 right_pitch=-0.2078 right_roll=0.1257 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.306, 6.7214, 1.536, -0.0513, -0.0659, -0.0122, -0.1436, -9.6205, 8.0889, 0.4176, -0.7009, -0.0855, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrG0OVcJbwy-Dej8djRC4IutCYJosYc4L55XW6AlV_h67BNhYCObMYUFpu85UuHTQirb2MYeWjI1t_o9YQuAFVhw0EzgwcBGtI5q8lWJsjWFq39VnhhHQa92WOpCbR8vJIOCqa__xV2v_ATO9vAT8912qkNU6-U4rHiwmo1m7p1H9POQLXzhdFuH7BZOiTLX3HMVGHoe85fS9bR-w1KYwLzHL0qtbmvD7gtYJxx_SlU3PK2amjKe13wFBcridB9NQSJZGdiw70_DAw7Xzl0hniNzrZkqXnWD98jxkotTHB6cS_aWStmjl6HgL2l0LERyZf6Qkc_d8hzZlYJ_vdIVrTzoR-Azf1tdP4uBUdW634CCs-Q6JVWv-IIWl5wsY-SPp55AQ2qZ-euJzWSOPXxEQuPfrvpD513JAWcXyX2rOB_rvsYUtKM_uHZhdrbkjZyq8G55n9Cq7LZaIjssFeNwv2uCUJZYYFiw07Dvs2zqOpebuw4zybZDlI_wBqpCmQhziVmROnJsMI4splpougQV8KbFOj5nQjHt2dS5x1f0MY9LvIbp6blr6XU0b1KrRQhJBUoNApL0IHkYcJjihnafR0h3zTqyMsepPDqD9CDyCSmCrPHQSGfcuHFAPAZ3JN0VACbveaquwb_cCCGD482x3jdH-O9Dtn6v-LxKstOQgJV7Mv2euHsyNeTn9XYGGkkKK0AGGtceVeusw1obo_IlflK5SQEHUPPNRmoJ-XdEcDZqGuY5rx5gGblywmoWp4yZiLv8E48MF9H8Brt-pg5M5c6PpZZ62tIikLRVxiZLJC_Bhtj-kjpnQsH6laxmqMTGXWPfJ-syb659NViu7iYk6vF321z0JzSdGrb8Ec1kzIixmq4YMi_Bt4mZuoWY7l633QRTu3G4mZfEQm0q_d37TqNOWLokJMn8-rmDQQ7APz5JSf6LlpeaaHuWnXEwW7KW8Ipxw-xgrPvIShPnvSOz4XOj4e98Y0cF9W_teedlrsp-ZxgZA2YIKFOYZL4-60tHJAeCw2WYF38NUxpxGSnzAasmLLFhR0lLOPLJKQkuz9qPuu_-s0TRDRpmkjBZte2JmlmM_T5owRkwF3X8biXfv_bDq_4AR6qZ1L2nOpcGKmEW3CsW9HbBq_CvKpY5GpLaiuAP5B7t_pRqI3MJ4wWvPVMbwVP0IxY_GwL7Kuo3q3bdF-qVYkj_15oM1KR-lmpaf5JCT6FS_ZXAfLk-dL01ghthZqO01JAsanhlkNFDD2svO8lw0_gZPFTmnrXt_QWoQ0E48WT-7J-LFOyhn-hOJGj_EexV8LJAHvpQqYGvNlwjXLeU=",
  "id": "rs_096ed760b24426be016aac6d0ab9f487d0b80925370615f49c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.3,\"left_z\":0.18,\"left_yaw\":0},\"note\":\"The left arm could not reach the sideways-gripper pose and stopped above the burner instead. I am raising it and straightening the wrist before approaching the can from a less twisted configuration.\"}",
  "call_id": "call_XIsLJPxHOBjWk4GK3SybiDBF",
  "id": "fc_096ed760b24426be016aac6d0b9e5087d09d52c824d70cdf46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XIsLJPxHOBjWk4GK3SybiDBF",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0073, 1.7756, 1.4124, -0.7139, -0.7681, -0.9394, 0.9991, -0.0883, 1.668, 1.5146, -1.3033, -0.7597, -1.2491, 0.9954]\nstate[eef_state]: left_x=0.3297 left_y=-0.2854 left_z=0.1661 left_yaw=0.1072 left_pitch=-0.1101 left_roll=-0.0054 left_gripper=0.9991 right_x=0.3291 right_y=0.0966 right_z=0.1999 right_yaw=1.2717 right_pitch=-0.2268 right_roll=0.1101 right_gripper=0.9954\nstate[joint_eff]: [-0.4718, -10.4, 6.106, 1.2234, -0.2906, 0.2759, -0.0122, -0.0205, -7.4872, 6.0239, 0.4957, -0.5446, 0.0024, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4db73dae60b3e67f8d48c7509502de048d21d4032abba694966ad63aa436f3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78e31f27eb73a494e29122d10591e9d2e57e55bf49060ba2f895b3d427e83144",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:535b5d641d5aef630068853f44033cf08991aeff0c7cea57232282ee5ccc91c3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6895, 2.4073, 2.0045, -1.5578, -0.8433, -2.0995, 0.9991, -0.0883, 1.668, 1.5146, -1.3033, -0.7673, -1.248, 0.9954]\nstate[eef_state]: left_x=0.3897 left_y=-0.1457 left_z=0.0749 left_yaw=1.2063 left_pitch=-0.0868 left_roll=-0.0039 left_gripper=0.9991 right_x=0.3291 right_y=0.0976 right_z=0.2009 right_yaw=1.2722 right_pitch=-0.2195 right_roll=0.1126 right_gripper=0.9954\nstate[joint_eff]: [0.294, -11.0154, 7.6786, -0.5495, -0.6422, 0.022, -0.0171, -0.0615, -7.1043, 5.7231, 0.5495, -0.5739, 0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrG0T2GrDz9WJqV2qUE_C4K3gUrSE8PYZNnGU03P7sPrR_REnwMKBQwRYff1BErYqUi1Mx84mrAKDPOGS_E-oxf89Ve3rFfU5T__gJYmQ_gbIE7wiXWIoHLmRMBxk3QlmL1Psm8Iph4U1e2aR3ZJkUuaWTFY-FK-EE3sgKHeRjsHYw7DBx-f68l5Y2n8M2EG5Mm3MKE9qCQFXkLPLHOdduJt1oSR8w8JcvCG1mQSG1xs6h8eQ-2qCtJE__XAYAbRMUI7ROCAAsOtCAGGIjz045IjXpld1jUWQe8U0ouIuEI7Ko5y0aRxUAQQ0vY398VmeCf6JC9NNABsK5zvfcmvm4he3MlsfIBX4ddgYbqHG89O0vHgvy_ZGIfKGHSxX3GBTULc9bqhbY6RMWTDiMTxdIK48VnPDKVQ9kZDjMNe_HIboCS_P41x2iJ1fgHkTgDUxb6-IYth5SxXFd_KMWpLi036CsNEuymQjcnHQkKwTZdmZLv8N9L9yj10c3UOhwEb_nGOJIRPPYeTmQmtVmD9obyc20P9XsShOlhILPFBmC7oezV2-NwyyBBLeY2bS59NtRrs0c1kHdZSJ2llYgPgBr2FWv34ST-OWHDNHJ6OqWnM1bumaFKtQGRpKohFiPv9uud-BWO7W1rACz07l_xK-GCHb64EvVWodq-dYlQqRKWdkMlUVcPX5cXr0FcXNcUgEPISH5XtqM3Arm-G-bGBooym1af3ad6XKaydOpyw3KgJx9EX_DCJyiYO8k76mWqZivlGy6F_CHe-ybTUTI1PHJ0plMe16KkXEdbBJCB8WafcHkCRUc-93L4aA1ttLQ0m4vB7lDEs3NmWIT_cjb5BxITWTNrcEMdDIFQqrBu9o2cq6xCFZrwVTDhDhg2aVzWfoauA2-8lyfTiCCME9RHl53l8OofNR5Qn_9q1xYsdXeYkVGtmy7ijGHrgxA5cJisjkWtvvZfZArvFTKcRd8CHF71LefmoJ989MBxXsZNLyA-VwvPZ_wvfrjZPbOgO9JSrkX9hqGfxwpWg-2v3PwEKFOkqZPrE1I1Zr2bfG4PbrBd-Uh5ugsOCIvbrUlaQ6LcqlXPsyLCHXF_fZjwCwm1vcbEcoO9InmZ6Mo--xHox6mW5tfAZIY2HCw889HlyPbNDanj1-IJsir91NMUbkTwVhLjpIsujgfZXhfYOXDk3vI_AFtgB0W7h_ObmtEoFEDkyc_1NvOww6IjwXRk8bg_2QBG7W5Q==",
  "id": "rs_096ed760b24426be016aac6d10f38c87d0b16b9f2d405b7571",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.35,\"left_z\":0.09,\"left_yaw\":-1.4},\"note\":\"The left arm is now over the can. I am turning the jaws the opposite way across its body, avoiding the earlier wrist limit, and lowering for the grasp.\"}",
  "call_id": "call_quZrzX9XwNf37gdHXZCk2cXW",
  "id": "fc_096ed760b24426be016aac6d1180ac87d08dc6b5d4c0458865",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_quZrzX9XwNf37gdHXZCk2cXW",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6483, 1.8301, 1.1004, -0.1352, 0.387, 0.329, 0.9991, -0.0883, 1.668, 1.5146, -1.3041, -0.7528, -1.2491, 0.9954]\nstate[eef_state]: left_x=0.3301 left_y=-0.3292 left_z=0.0709 left_yaw=-1.176 left_pitch=-0.2071 left_roll=-0.049 left_gripper=0.9991 right_x=0.329 right_y=0.0957 right_z=0.1991 right_yaw=1.2707 right_pitch=-0.2337 right_roll=0.1094 right_gripper=0.9954\nstate[joint_eff]: [0.212, -10.0718, 8.4308, 1.5897, 0.5934, 0.2076, -0.0122, -0.0615, -7.4462, 5.9009, 0.4713, -0.5348, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d586f4dff04bcef3a3ba51e9f0c22e6ac9b34a1aa02de91bfd1a16014a35138",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:081ac765a21c97164a1531967d78fbeb57376014733d0808a343d6e2d36ba237",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b163744dfe80826874800d41b186ca631ba032809214af362e19d0cf2ab2c3e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0073, 1.7756, 1.4124, -0.7139, -0.7681, -0.9394, 0.9991, -0.0883, 1.668, 1.5146, -1.3033, -0.7597, -1.2491, 0.9954]\nstate[eef_state]: left_x=0.3297 left_y=-0.2854 left_z=0.1661 left_yaw=0.1072 left_pitch=-0.1101 left_roll=-0.0054 left_gripper=0.9991 right_x=0.3291 right_y=0.0966 right_z=0.1999 right_yaw=1.2717 right_pitch=-0.2268 right_roll=0.1101 right_gripper=0.9954\nstate[joint_eff]: [-0.4718, -10.4, 6.106, 1.2234, -0.2906, 0.2759, -0.0122, -0.0205, -7.4872, 6.0239, 0.4957, -0.5446, 0.0024, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrG0ZTwA1YVUox2P6En7iPxzaoSES1-drNtgPDdA7xUp00JQ7Xko7NFd_XAcBqQJWtBfKiupnsUToSh6of5jy_U7dzYdjdzzKhIEg7064Ma2My4DxSeYyrqkaKo26qiLElkaqucJQFnjNjMl_9-CCSwuHZNvKHC_nEaDNcra9ed1tv1ua1lZ6GXRE0M8k2PRmpphOv6O0RUY8iTpwlY6tiJtMfiwern5BGDHQpnyCimZYIo8qxDGkc0_A1aCrKlXSSxlPUQ4Mwcx9lOLoQsQ1md0y30LuJtVTIwCjFp32_XXSpjJXm4yXiCaXPZpgjZ31ozj-OJToJItBCQL8uCuLjaLfcp3huhFWkUf4iF1O10-KMoDgPYDexlc-WvD0fjSUEsiyKIC4uPfpoFiwnw7xEox5hvWil0FYkRxXj5grb66EhNsWBIhjsGyVz19Zv5NpCcOaw5DJ9oqGNAHtxGg9zYzDIwI3b0GMspWuub0__ZFlcC6eCeiupP5KX_quZ9tlBzH3dXt-Rys3YjN0cQAbDaoYL0Uy9bYe8_DOr7cthCmUNZo2AJQohoW6XbAZ_l7Q-kJBWvXlRfLEy8bb0HxpyTn0Zbg4YOwSuMqT2Xg7vYAV3HbdxF0-6PkPSc6w0qYHaWl9jxXSYMc_mnOeh81yxbKi8FMGj11ApzPLUCxmsxQ0CC8E6jj7IENRceN_t7spBfSxcUUoMs8-D7orz4vNtepXQ_Lf-njDTaEpjG16uqFw1BN7-IG_mlVsPqMaEjgzFPMpQpvvFmiEZPAnicwVpSqFqHhb2sVnFdAf3dFaasxwUyz_EPImiuyQdbHvh3dWPylV3a3yUgx6OuGr63BxPmrMUq6YgPAoOy493BA_5BtC9Xu9BXAOFQLNEtZDB1-nePlyfLnBdbChQQ9Zl8D4ckApCBpoKAth72b27d7_6KB1cEMR_lVTj-oxk-yEpFHgfevzqbx9-a5FW81VIPFVmgiAodAce-kgykZ2pmtDLFXhH9qUQrfnq9dQF4qRgNWnrCbYC92OF4ZxAR5OD5s96VQomdrG7mGRx7LxVq0F-mADHZ9RlADJPCO1lbll4X0nmFVXhA9qQfsPdSqliXlV1uyxrEA2-DbBKo3nPm6oGfoRWROJolxkJXXErExPOqEHURj08la6Y0yJ1IaIVYM2GOpsC9khHLC3sJgXP8aLOHmeDNJ7jqPSKFh01grKs8Ccj_reW-09BTYtIx15RRCt_oJge3LHahfJa1Ld3lSCyPwlc_Ns1c8d8i41_pnjggP1YMHs",
  "id": "rs_096ed760b24426be016aac6d16264c87d0bc59446d4a6176ad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.385,\"left_z\":0.027,\"left_yaw\":-1.65},\"note\":\"The wrist view shows the fingertips near the capped end. I am shifting along to the body’s center and descending below its widest part.\"}",
  "call_id": "call_AlZVrC9L692qLuNvSN2ex0wk",
  "id": "fc_096ed760b24426be016aac6d175a1887d0b0620aefc1a56276",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AlZVrC9L692qLuNvSN2ex0wk",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6472, 1.8687, 1.1038, -0.1181, 0.4679, 0.3988, 0.9991, -0.0883, 1.668, 1.5146, -1.3037, -0.7521, -1.2491, 0.9954]\nstate[eef_state]: left_x=0.3214 left_y=-0.3383 left_z=0.0622 left_yaw=-1.2779 left_pitch=-0.1863 left_roll=-0.061 left_gripper=0.9991 right_x=0.3291 right_y=0.0956 right_z=0.199 right_yaw=1.2705 right_pitch=-0.2343 right_roll=0.1089 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -8.9504, 5.641, 1.6728, 0.232, 0.0269, -0.0122, -0.2256, -7.3778, 5.9556, 0.4762, -0.4078, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02dc17ac5dbc03ec2a787c932a72cddcaf3be214bb3bdf725e2ac411b7992a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31973fb728fe0586c05ea19619a3e5e02ecad9afc46b8dcee1f5dc30ad61a5cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e71f7bc3a5e358d31199650399dda4fc44b56fba855be457b2cd250663eaba8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6483, 1.8301, 1.1004, -0.1352, 0.387, 0.329, 0.9991, -0.0883, 1.668, 1.5146, -1.3041, -0.7528, -1.2491, 0.9954]\nstate[eef_state]: left_x=0.3301 left_y=-0.3292 left_z=0.0709 left_yaw=-1.176 left_pitch=-0.2071 left_roll=-0.049 left_gripper=0.9991 right_x=0.329 right_y=0.0957 right_z=0.1991 right_yaw=1.2707 right_pitch=-0.2337 right_roll=0.1094 right_gripper=0.9954\nstate[joint_eff]: [0.212, -10.0718, 8.4308, 1.5897, 0.5934, 0.2076, -0.0122, -0.0615, -7.4462, 5.9009, 0.4713, -0.5348, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrG0eC8x5sLNaC0Im8bxY4kCNgI0kYtgQK-O2r8joTyDWYX0QHHj7IrmU9Oq3diY8iTyjIutZl7xf1azGWKeAPqYGeaj3SSXxmnhetVhbj0mICmRuRRPkcTQvYBhWXGtM9DTuVX7AoJ-5DGHk1FD9PP4_K7fXZYSMo8twl3ERh9HIx4n2vdzduTQsMIu2EPB1kxnbtLDVNL7D-Pf2pj8tjmsDFwaQcCY7Td9BLgGolkF1-dKrSehHqIghWQbcAFU-aU1MUdrm1qlLXWNAomeIvEvxPeloxiy4RTdOR_AjUGi_iuuEX0KM8hqxKlSaUh5bCx_WbV0rOBUs8o1J7kKdzWZWEORdVXB-owHfIRwh9PlBj7WO377Hbk-1LgHPx9ja6q4-wiBeeKaG5Cr92vdQONXAZOkxknobvB3gxddb2L5L6EIpM_c8MGVJ9rNE-Ip9CGfiuaG4E_NZoXf9pOOcEeuK6-9H7i8L_nsdk7RfaY5ngEEi3-Ry_TloJAWtYHpkuXdXY1I2rmt__Y3Zwq4VyGipgzH-ZhhvSyTCQV5ZN_xDoqqHYGCO89OeAxIUCQLstEJ9aslnM_dkOHroJ157pgfFoI2yowXv0wnpVzwO7JZ-bjG7vuRlouMczlBxUUJ3ltsmIen4RWPr1nHwc8-h0syATUvfqNrcJznGRJ5A3UlmFDKwpFa1VAHOu6yrxvalDgcUEp9ZqjDsiRV-Es08xLcNrjXHebPIxew7oH4sDllLN2sSWoqCKhppmhOofWCuICHQgmkG-RqurofL3yHC4TkbADNIrlGzmf0t39ppXhMKIk0F-xJZw7X5_6PIS2_O0i5EN5HFds_KrEch7MRjZMxip5a5KL1pVlkmC4zJyJcrMpVjiIWlObDiK7ApKojKa-wPRjOZduu8oDoQA_gg85yhp8x64wwBtgC0YovxyEWHqw-XW1gGdoag3JLVEgU3SZ3qI1bXkWH6rTn3rVahT-8s7g_lS9bic_3Ib9l2w8Q5Zjrzy0l73Rwb9-Bm_wE0R0VmudebCKkn8XDiQ6PjBWP61i61Sa68XA0bqK9DN17p5hpeInCyVN27sE0Wz61UrzuHC5Bg6Y6XTf4LJAg9Og6IGe4aybA-asjy51KwoOWcVdgvPAkeAWjp2L1ZhwiBC81KPGJ4NnlGvG1O-SLPiHsGNx-4ibo2HYWR-1w5P6NCsw8-Xre-ECe5T5O0V1-d6vSPhlg2kHqvcxfE85C9Bfu8VyN7ds86Z5wrw2SKq_PXgOitkWsA5IGyz_dsWXJemFR580ysaRWB2GL2SWZEjOHuqiIFzUxJSbFkHxxayUOCJQ8=",
  "id": "rs_096ed760b24426be016aac6d1bcea087d09a5e9456325c7634",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.39,\"left_z\":0.07,\"left_yaw\":-1.3},\"note\":\"The descent stopped short near the burner edge. I am keeping clearance while shifting the gripper farther onto the exposed can body.\"}",
  "call_id": "call_SrAERaCZJTnxIi0wxsP93GQf",
  "id": "fc_096ed760b24426be016aac6d1d05bc87d0a57aa72c9afa1c24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SrAERaCZJTnxIi0wxsP93GQf",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6472, 1.8687, 1.1038, -0.1123, 0.466, 0.3878, 0.9991, -0.0883, 1.668, 1.5146, -1.3033, -0.7448, -1.2491, 0.9954]\nstate[eef_state]: left_x=0.3225 left_y=-0.3387 left_z=0.0629 left_yaw=-1.2697 left_pitch=-0.1829 left_roll=-0.0645 left_gripper=0.9991 right_x=0.3292 right_y=0.0947 right_z=0.1981 right_yaw=1.2692 right_pitch=-0.2413 right_roll=0.1069 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -8.7863, 5.6547, 1.619, 0.1294, -0.0024, -0.0122, -0.0615, -7.4325, 6.0786, 0.5104, -0.525, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:525aaf7a80f73854cb8474f07c00ccbe6898d2d8d37c0988772705fb2514b0ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:351f4cc8b638ed8ff2d18147c9b9fddca810d4e62eee1455f651f2a1eff53c23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c116311b592929809bc8f0c66409ace11ad42c923b6e259c7583bc37bcbd55bd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6472, 1.8687, 1.1038, -0.1181, 0.4679, 0.3988, 0.9991, -0.0883, 1.668, 1.5146, -1.3037, -0.7521, -1.2491, 0.9954]\nstate[eef_state]: left_x=0.3214 left_y=-0.3383 left_z=0.0622 left_yaw=-1.2779 left_pitch=-0.1863 left_roll=-0.061 left_gripper=0.9991 right_x=0.3291 right_y=0.0956 right_z=0.199 right_yaw=1.2705 right_pitch=-0.2343 right_roll=0.1089 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -8.9504, 5.641, 1.6728, 0.232, 0.0269, -0.0122, -0.2256, -7.3778, 5.9556, 0.4762, -0.4078, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrG0mJAtsoYkzk7DY2PGFsvJF52T8Er5WHbt1KQkC1kpE4aLpcV3mX2MktVPoGgJPlfYJi2eM2lyKoDtkwnmtT7_UH9gd8eOYpzyEO8c-YITYKr2dBwHA4dDYEBJwZuxzbnSu3mnDb3Obh36Mk1mng9DG1KbTQ411B0lK0czjYhLumtgpWuL-k02ptv3bk88ctkvaPysgQGnvQ-8rD9S7EP-ZF7CVSfSGNY4nIPQKJbATAuia87JHvZWm5Ht9oCh7KGWSfLCGXSj7CfEjp2Z0ma1QFDszxpM2YPUpUkMCFn5YvPH9p_lvxFae4ACiDYfYwx0CzKHrnfhF1FATur18UScN8YRl2ZG2GYHsBtw7axQc742aaCt_bOII2dj2-SgefYNdDiQUyiNj57ucpntwRe2aIC1Ol70FtH8bbmtlxsgDRS1VC_0ug9Bi_fGq3qrCf0iRXE_Qz95v_CxpDo5A-8NXRmpjcf4IXFLB-LqUHjyf8X397DQpXA5pMIqA1HNewQ50c5f7V1hSvgZsplx39wPgfY3gPuSeC-0_rqKzx1oA7yxaHaKzPpK3u06LMZ5gu9Yqolph2SlXx2O2_2movJShlxd247WLvS4GDnfRUeGOLnEQlyNaj-ZqhxLa5d5_UvQcr0WXpuP9NoW0n6ZD0pPagmZTwqFlSXaGGieET3fmC1D3cH5fj7PFYiTyzSMD3je0diuTiIdSpbdiIl8gz4nUIsrX-rvVz_PZSmrAIrRpYUESRftLxsgACad1zaEIkoNwMcyeG1l2wEUbOVDu8JZIa7RrwdGQFQ5KbdOQF5p9t2FOazeVSnAN2oNEd5dHDWBt2DNxnILNc2ql6TQ0KvP-KMEsdRQGiQYF1BTvXj8hP4HTTPtjL_a0Y9VD6dxTuuoczr-TZEifSGd_57J4RhscrFdwlzHGG0n8FGt6dWAzD5__-0DvinkzHvLlF2Af4ajp_zKjPZyIvfEJXNT8zoKC9JG0L-lp_lQtCgJcBLi0k2At8qWWRQFEAboAJ6QvQ_dao5zBJFxMyWrPu1huUts8Y-8Lc4twviBl3ZYzZaxJp3WPT3jHUVgICZB2RrA4fzHNUDYyR9jkIgkNP6YAvwhUq4x7AG7TFI5dUVLUm6hKtpummIhbemkvMYpR3raVhkzzFUiTGlXp3DhwFY26UJAf4NStFtau_-Lg0tkIC7nGA_7iCDr-8rm5DnciHQUpQI5MammMTjanaEOF03-kjq_xH3ER1YXwMvrrH7ycb4_KjnKJt7Z3GfwETDMnFyBxc0u3104J2_g19Jab-ZLOoU06ROJ19SN5FK3rdh7RVbRi_pbGgXaFdk-_CP0zwvCFlYF-S79L72eloTazaNDtrXDVut3js23zb7dQLohSe_GMe9j1sM6yG7HGSisgfov5AOc2ijLeX2XwGEjq7dfTTZtocnZM1d6hBJ4zDY7PaLLT00UCvffIvtg5HNoUaNSOKRggx4NzSWwbIpFQOq0iuh4CKqWKJkBei6XT24d-RUbKQJsTi_hFY03Ix03jXwecWYDHRpsljXR39ElIAEc1_zUqbJuxFCz7zsMt-RgVK_Boo95O9m6EsbE4MA2V020UUR-fbnqQYxKCMoWN9uv13vbVl5Cm14ezptM5wV0g18ulBCZuIlnx00a-w4spzc6oHhtzL1Vi-_RwAeIgZT_hJFOO4w6HFr02age-Isd7ry0KTVbIq5Osc-wQGcFDTDgBCriU",
  "id": "rs_096ed760b24426be016aac6d2122dc87d0bfe2af7cf02a0fde",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left arm cannot shift farther in this wrist pose, but the jaws are alongside the can’s narrower end. I am testing a firm grip there rather than forcing the arm sideways.\"}",
  "call_id": "call_Rz9kKFj0Jvq8xdUEBmlq2gzA",
  "id": "fc_096ed760b24426be016aac6d24c0cc87d0ad82e1aa8b0ec38d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Rz9kKFj0Jvq8xdUEBmlq2gzA",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6472, 1.8687, 1.1038, -0.12, 0.4587, 0.382, 0.0097, -0.0883, 1.668, 1.5143, -1.3037, -0.7372, -1.2491, 0.9954]\nstate[eef_state]: left_x=0.3224 left_y=-0.3372 left_z=0.0614 left_yaw=-1.2619 left_pitch=-0.1925 left_roll=-0.0686 left_gripper=0.0097 right_x=0.329 right_y=0.0937 right_z=0.1971 right_yaw=1.2681 right_pitch=-0.2489 right_roll=0.1061 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -9.3607, 6.0239, 1.4383, 0.2906, 0.0562, 0.7643, -0.1983, -7.2684, 6.1744, 0.4762, -0.4908, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a61c9213be6a35d6d6b49a956c1e4b5ae97ed17ef425c56852a0c2c40c85f686",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5457a0b1bfa6ec44c8f83993ab7b03f447ec025b083b3bf21da9b2508bf54378",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31cb9828d13e97538b4419f9809ac2730a2d77475bce01ba58d1920f75c7c3ae",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6472, 1.8687, 1.1038, -0.1123, 0.466, 0.3878, 0.9991, -0.0883, 1.668, 1.5146, -1.3033, -0.7448, -1.2491, 0.9954]\nstate[eef_state]: left_x=0.3225 left_y=-0.3387 left_z=0.0629 left_yaw=-1.2697 left_pitch=-0.1829 left_roll=-0.0645 left_gripper=0.9991 right_x=0.3292 right_y=0.0947 right_z=0.1981 right_yaw=1.2692 right_pitch=-0.2413 right_roll=0.1069 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -8.7863, 5.6547, 1.619, 0.1294, -0.0024, -0.0122, -0.0615, -7.4325, 6.0786, 0.5104, -0.525, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrG0r-qAZ0tmZ6yMW8kyH8aIwgs0OV8X4TCR3q1GxZgy35Du99W6_RzdgejiohaM1yTW90z3GkprDE1d7laxIMFG42wKRtshNWwXHLjt_-GrsCVpNkR43BA5FQBedgQxRza-sxG50d42laWDEybc--D82U8teJg1zYhd_iN3Eh4LVBL2JHNrHv_Qve9k3yqfA0NAvZ9zvhczNlplV8LQkJEV8nv8SBvuALjp3QrUcB2Hevm5Yn2TNy0ydJLkdmx5az-CoX2xVJ12RbBIK37Uc9wcJ9FuVTW-2xqHdzseuavlMqLZIO-s0b4rAcDZXplE7MFryhqd8y6l8jotACcypkDhI3z5RFlzmhO9_BvpHBC-WQ0smsW0Ctq6z7LnyIt0qaUjBg2XCDsI5gWDarqSvCMK62BmsTVBA-vz0ajHtfxEK3NQSjkztnQKUTd4DZIzrTfXBn79yUv_4CcYJd5JeTLE8if3IqPNlnZpXb-ycMtnqC3IF0nUhyoGT6x46spPrOhAcBr4TXi22uR-jqjzG3vB60qIE2M-7QiEMhaxcuQmrpbOpeZt5mCZ8fdkEwe2P2kDKwhMq2FJV3eIWbBG8oZkneLllvKjlFpruIe_Sl2fGQDbISPQSN71MmYsMq0UKzSrIfKkKaEZjPbIN_weRqmqx46gx4mAQvcVpmm-GDPr4TeVkHJujJFh-NIlEwfRItNzvcW7Rm4ZU6aTKGTHYNLD3LAiwbgvPqU_WhRDHEFhTLwK_fgo84dFIcTQyDaLwVBAkCvLUxetixODBaKJmuQM7qqWHT1rWuKwhM5SNKr-Yi7yY8W4PUOxF_rxwBkktVjdlJfhk4PIGDFvsYi3ut43TnZ3oj3-XBQlMwdNifu0LWXczi7bMPdhFlrQNLEdjpx0qZ52jtvwHulwqSnaymsji9SAT6MNMOBrHmQ9MTl48x8PQ2tGjKEGe6XAt2w3kKQ-XHgTnAob4P7-UUZUZvry4XVQbcCcseKBJy_ewIf_gdEUcLM48YRTe7KeGiod5vSOPq7gUcPNzIaZh0mPj2Rz57Wdv71gri2qPmWmTvsOa5ZpTcXnRArLZ7FbSGLiV4hiNpe1xMqm7dEqGGvz2D0UtBS0qaSnEbRBHF_ljQIlZccDy-MIlp4qaON11sctfXceF2k4eSvH3pQXehibF8fEclSupXvETfpK5wuvMaER2hIazHxD3X4tjMOOyROhtRwaku4_oFGVDPBL3KkhRho5YywVSvlg-viN-DCBD0RURZtXKVLBgRLRaY9uoNqE9NUOI",
  "id": "rs_096ed760b24426be016aac6d28ca2487d08ea62bc203f6ab8d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.29,\"left_y\":-0.4,\"left_z\":0.025,\"left_yaw\":-0.8},\"note\":\"That close was empty. I am opening and making one adjusted approach toward the can body with a less twisted wrist.\"}",
  "call_id": "call_wpbtrjcwn9ZJSgcgPZg8Kzgj",
  "id": "fc_096ed760b24426be016aac6d2a3ec887d0bc706bdc39fe8511",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wpbtrjcwn9ZJSgcgPZg8Kzgj",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9741, 1.9511, 1.021, 0.1242, -0.028, -0.1448, 0.9954, -0.0883, 1.668, 1.5143, -1.3037, -0.7296, -1.2491, 0.9954]\nstate[eef_state]: left_x=0.2787 left_y=-0.3951 left_z=0.0188 left_yaw=-0.8847 left_pitch=-0.2312 left_roll=-0.068 left_gripper=0.9954 right_x=0.329 right_y=0.0927 right_z=0.1962 right_yaw=1.2669 right_pitch=-0.2563 right_roll=0.1044 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -9.1419, 7.9521, 1.7705, -0.2076, -0.1392, -0.1197, -0.3487, -7.4598, 6.2154, 0.486, -0.5201, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a9ff41641fbca0a57779acde852a457daa217a9870b7802870b792f410ca3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c419930ef644d08f241bffe065ff28c5e4c55b7e97da0f2c540f70b965a6702",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2983fc044eca369b08b44617587d2abe0403d89d076bb1c4b98f22f4745d8d5a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 117 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6472, 1.8687, 1.1038, -0.12, 0.4587, 0.382, 0.0097, -0.0883, 1.668, 1.5143, -1.3037, -0.7372, -1.2491, 0.9954]\nstate[eef_state]: left_x=0.3224 left_y=-0.3372 left_z=0.0614 left_yaw=-1.2619 left_pitch=-0.1925 left_roll=-0.0686 left_gripper=0.0097 right_x=0.329 right_y=0.0937 right_z=0.1971 right_yaw=1.2681 right_pitch=-0.2489 right_roll=0.1061 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -9.3607, 6.0239, 1.4383, 0.2906, 0.0562, 0.7643, -0.1983, -7.2684, 6.1744, 0.4762, -0.4908, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrG0wGBZ68PPglNFSb5fl3n2IdDXU6nNLdBo7zmf1EqcqdelpgRvPEEGgBQicj0eml5zv0wqvGXThpHfofamLOfOl3UKbAag56fYfbYUbbf51ofNHoRyLw1JyTH7kuLjtfkHpNN45Bn6FtIH_qzuCoJd_8WCfKTIsFADAU75VwFrC2agD3EThOep8CeV-n4uIkd1_YZzeW9KnZB0FvQNZ_pHzF4lb3f3q714sw3yMTkrM13k-5Kt1I0aeQU8RH8HCFhmzTqogIrgVV-Qdb2DR--oAmtKubYBXqdaCoxFdvzDsBkE-SdBcL6nyWDJgUwwp3mXUL8QUoTlN1DdxCNi-qmkvIKPbxA1atkRxPupFMIX4Z8ji68tsUw-bpchVRpx1lNAzvioZgzMeK9z2QBtdtSEyYvLfqMy6S3Qqwkt9gPuq93KuBuv8a6V_lcWjUfyohaKf560GA7QlxtYM4NlJNOFQoSE1D9OjXfhKzg0AC71NkhSkTrJ-60Wijp6VbJC9Hmr4CStLDTcQuJFPRHMWZTyX943m59fRhUliXHpud_XB5X_kwcnOxHeNsM2ryH9lttzU8ITf-4y3AsZkkMsQmV2yK_GrJV37svM-9y7FrYrUQBZE6gsoWIu7osfe9ZlwYIvu0bY5CTqL11ef80ohZfrSKXVnWQfP5PEI9fYLmTYtdf-GqjPb4KX3aGcIo2lfbg5jd19tZYx4_DlerOhxfZl0esWzXpuKze8sUgNYEK-nGJWoG_xswot87BYbf1wNYnvfo4yQnBJ7JUGjamxID20VyJdXhSpO1gK2tZOSWi0uyygisnE5lT7bNi5r_gtGBgqcKxs-OWEC-iXhyUjH6pvW5pzDvmPnMnhzLKrnZNoNfWRTOcGonnxR2q4aG5mCcHRl-VyFAKbTYAYIwjhl4-39BYU9E4Hb35nXDvQ2UIcCU-71iPfQJEOZsPYuF-pzu8ABWgD38zlut272a6nYQFSVKajq4sl0DTNGNUtTMR_cks4Ul6hiqE-qAQ-uYRboIrhY_uvYi71jYQtfHlUR9NoLW8KxG0xCHhBKkjHc3iR73mYEGaYzkCNfmDUJNUwASmWEWuphPZTQU55vDSEpCnUYcOK-Gjox2ZcSB8tM_haROMvHmM8QFAr3MuOL2taH3OwVyJ3YpTo3Kf6bjzLfr2t-QTqMMOtueDKgSTeMJ6ZFT2-UbXwipOiEf_AvBWv_3V18vJm68l5Pmzv6uFOJzOnPb7j4XG_AXmoK4s-zAtrExEn9V1LFWMhekNV9uc5jfApayfxN_JBZF4gO7k7DkH-b7w==",
  "id": "rs_096ed760b24426be016aac6d2e25bc87d0a023002f2e6ff5f2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.4,\"left_z\":0.03,\"left_yaw\":-1.15},\"note\":\"The new pose tracks correctly, but the fingertips are behind the can. I am advancing to the body while turning the jaws more squarely across it.\"}",
  "call_id": "call_zmbJr9POGbrBwVIU6ygLmkNk",
  "id": "fc_096ed760b24426be016aac6d2f404087d0bb3dc58e85e5217a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zmbJr9POGbrBwVIU6ygLmkNk",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7734, 2.0922, 1.2819, -0.0624, 0.2184, 0.1184, 0.9963, -0.0883, 1.668, 1.5146, -1.3041, -0.7208, -1.2491, 0.9954]\nstate[eef_state]: left_x=0.3477 left_y=-0.3879 left_z=0.0191 left_yaw=-1.046 left_pitch=-0.2712 left_roll=-0.0788 left_gripper=0.9963 right_x=0.329 right_y=0.0915 right_z=0.1953 right_yaw=1.2654 right_pitch=-0.2648 right_roll=0.1025 right_gripper=0.9954\nstate[joint_eff]: [0.3761, -10.7692, 8.1162, 1.5409, 0.3443, 0.1978, 0.0806, -0.0068, -7.3641, 5.8598, 0.4615, -0.4762, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cce5f456a48feb98a20e9e29f95224b015d8a18e80732292e5a5b4d333952c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11429f20422caf4e2f89c7d160cfdad9ad1bb2bcb19f14865fb62b0cc2d6c830",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:133b1933e2ca7fe269da277b2f87f459d91159cbcbbbea4cb636c6e7f89ccc78",
      "type": "input_image"
    }
  ],
  "role": "user"
}